Controllers for trajectory tracking and string-like formation in wheeled mobile robots with bounded inputs

被引：11

作者：

Ailon, Amit ^{[1
]}

Zohar, Ilan ^{[1
]}

机构：

[1] Ben Gurion Univ Negev, Dept Elect & Comp Engn, IL-84105 Beer Sheva, Israel

来源：

MELECON 2010: THE 15TH IEEE MEDITERRANEAN ELECTROTECHNICAL CONFERENCE | 2010年

关键词：

VEHICLE;

D O I：

10.1109/MELCON.2010.5476283

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This study presents simple controllers for achieving trajectory tracking for the kinematic model of a Wheeled Mobile Robots (WMRs) with bounded inputs. The proposed controllers are based on smooth uniformly bounded functions that can easily be realized. The underlying tracking controller can be applied to control a group of WMRs, in particular for achieving a string-like formation.

引用

页码：1563 / 1568

页数：6

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