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Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots

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4 Author(s)
Wenjie Dong ; Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China ; Wei Huo ; S. K. Tso ; W. L. Xu

Considers the tracking problem of dynamic nonholonomic systems with unknown inertia parameters. A new controller is proposed. The proposed controller not only ensures the entire state of the dynamic system asymptotically track the desired trajectory, but also is characterized by low dimension and the absence of singular points. Simulation results show that the proposed controller is effective

Published in:

IEEE Transactions on Robotics and Automation  (Volume:16 ,  Issue: 6 )