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Tracking control of wheeled mobile robots with unknown dynamics

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2 Author(s)
Wenjie Dong ; Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China ; Wei Huo

This paper considers the tracking problem of nonholonomic wheeled mobile robots with unknown dynamics. A new adaptive robust global dynamic controller is presented based on the canonical form of the wheeled mobile robots. This novel controller has low dimension and no singular points. Simulations show the effectiveness of the control scheme

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999