Control of a maneuvering mobile robot by the transverse function approach: control design and simulation results

Abstract

Based on the transverse function approach recently developed by two of the authors for the control of general nonlinear driftless systems, a control strategy for tracking an omnidirectional target with a unicycle-like robot is proposed. An original feature of the approach is the capacity to comply with a target which moves freely in the plane and performs… (More)

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