Tracking control of a nonholonomic wheeled mobile robot
This paper proposed a tracking control law for the kinematic model of the nonholonomic wheeled mobile robot (WMR). A Lyapunov candidate function is used to prove the stability of the controller. Simulation results verify the effectiveness of the proposed control law, where, a better path tracking of...
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| Main Authors: | , , |
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| Format: | Article |
| Published: |
World Academic Publishing
2012
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/30520/ http://www.academicpub.org/PIM/paperInfo.aspx?PaperID=1307 |
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| Institution: | Universiti Teknologi Malaysia |
| Summary: | This paper proposed a tracking control law for the kinematic model of the nonholonomic wheeled mobile robot (WMR). A Lyapunov candidate function is used to prove the stability of the controller. Simulation results verify the effectiveness of the proposed control law, where, a better path tracking of the mobile robot is achieved. |
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