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

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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...

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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

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