Bounded Controllers for Global Path Tracking Control of Unicycle-type Mobile Robots

Bounded Controllers for Global Path Tracking Control of Unicycle-type Mobile Robots

This paper presents a design of bounded controllers with a predetermined bound for global path tracking control of unicycle-type mobile robots at the torque level. A new one-step ahead backstepping method is first introduced. The heading angle and linear velocity of the robots are then considered as...

Full description

Bibliographic Details
Main Author: Do, Khac Duc
Format: Journal Article
Published: Elsevier Science BV 2013
Subjects:
Mobile robots
Bounded control
Global tracking
Lyapunov's direct method
One-step ahead backstepping method
Online Access:http://hdl.handle.net/20.500.11937/11774

Internet

http://hdl.handle.net/20.500.11937/11774

Similar Items