Tracking control of mobile robots and its application to formation control

Abstract

In this paper, we investigate stability of a nonlinear tracking control for a mobile robot in connection with the method of artificial potential trench. We first refine the concept of potential trench function and propose several approaches to construct potential trench functions. Then we synthesize a control law that stabilizes a robot while tracking a… (More)
DOI: 10.1109/ICSMC.2008.4811777

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