Stability analysis of a tri-wheel mobile robot

Abstract

This paper presents a solution to the stability problem for a tri-wheel mobile robot with non-slip castor wheel. It is assumed that the robot is moving on a flat ground. The stability analysis is conducted for a nonholonomic robot model by means of the Lyapunov's direct method. 
DOI: 10.1109/MMAR.2016.7575290

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