Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs)
This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator (ODIN) under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle’s steer...
| Main Author: | |
|---|---|
| Format: | Journal Article |
| Published: |
Harbin Engineering University
2015
|
| Online Access: | http://hdl.handle.net/20.500.11937/12952 |