Dynamic modeling and adaptive dynamic compensation for unicycle-like mobile robots

  title={Dynamic modeling and adaptive dynamic compensation for unicycle-like mobile robots},
  author={Felipe Nascimento Martins and M{\'a}rio Sarcinelli Filho and Teodiano Freire Bastos Filho and Ricardo O. Carelli},
  journal={2009 International Conference on Advanced Robotics},
This paper develops a new representation for the dynamic model of unicycle-like mobile robots, discusses some properties of it, and proposes an adaptive dynamic compensation controller based on such model. The proposed dynamic model has linear and angular velocities as inputs, which is usual in commercial mobile robots but not in the literature, thus increasing the significance of the model itself. Important properties of such model are summarized, and some of those are considered in the design… CONTINUE READING

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An Adaptive Dynamic Controller for Autonomous Mobile Robot Trajectory Tracking

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