27 Nonlinear Motion Control of Mobile Robot Dynamic Model

  title={27 Nonlinear Motion Control of Mobile Robot Dynamic Model},
  author={Jasmin Velagic and Bakir Lacevic and Nedim Osmic},
The problem of motion planning and control of mobile robots has attracted the interest of researchers in view of its theoretical challenges because of their obvious relevance in applications. From a control viewpoint, the peculiar nature of nonholonomic kinematics and dynamic complexity of the mobile robot makes that feedback stabilization at a given posture cannot be achieved via smooth time-invariant control (Oriolo et al., 2002). This indicates that the problem is truly nonlinear; linear… CONTINUE READING
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