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A slow manifold approach for the control of mobile robots not satisfying the kinematic constraints

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2 Author(s)
Motte, I. ; CESAME, Univ. Catholique de Louvain, Belgium ; Campion, G.

Realistic wheeled mobile robots do not satisfy the ideal kinematic constraints because of slipping effects at the wheel/ground contact zones, The slow manifold approach allows us to design feedback control laws taking into account these dynamics and ensuring the tracking error of the closed-loop system to converge toward zero

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