Root
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Conference Proceedings
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6th EUROMECH Nonlinear Dynamics Conference (ENOC 2008)
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Control of a Wheeled Robot Following a Curvilinear Path
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A control synthesis problem for planar motion of a wheeled robot is considered. The control goal is to bring the robot to a given path and to stabilize motion of a certain target point along it. The trajectory is assumed to be an arbitrary smooth curve with bounded curvature. A simple actuator is introduced into the vehicle model, and the rate

of angular rotation of the steering wheels is taken as the control, which is subject to two-sided constraints. In addition, because of phase constraints, the system under consideration is hybrid: at different stages of its motion, it is governed by different systems of differential equations. A control law is synthesized for an arbitrary target path. Qualitative analysis of the straight line case is given. Results of numerical experiments are presented.

of angular rotation of the steering wheels is taken as the control, which is subject to two-sided constraints. In addition, because of phase constraints, the system under consideration is hybrid: at different stages of its motion, it is governed by different systems of differential equations. A control law is synthesized for an arbitrary target path. Qualitative analysis of the straight line case is given. Results of numerical experiments are presented.