Stabilization and tracking of a nonholonomic mobile robot with saturating actuators

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Abstract

The stabilization and tracking problem for the kinematic model and simplified dynamic model of a wheeled mobile robot with input saturations is considered. The results form a direct extension of the case where no actuator constraints are involved. Simulations illustrate the proposed control strategy.
Original languageEnglish
Title of host publicationProceedings of CONTROL'98, 3rd Portuguese conference on automatic control : Coimbra, Portugal, September 9-11, 1998. Vol. 1
EditorsA. Dourado
Place of PublicationCoimbra
PublisherAPCA
Pages315-320
ISBN (Print)972-970251-9
Publication statusPublished - 1998

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