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Control of Multi-Wheel Mobile Robots by Thắng Lê Nhựt is a document available to read on EtoBox.
This paper presents a study on the modeling and feedback control of mobile robots equipped with multiple steering wheels, focusing on nonholonomic systems and their singular configurations. It discusses the challenges of trajectory tracking and stabilization, proposing dynamic and time-varying feedback laws to avoid singularities during robot motion. The authors also introduce a commutation procedure to switch between control laws for effective trajectory tracking, ensuring smooth control and avoidance of o
- Author
- Thắng Lê Nhựt
- Language
- EN