Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots
This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid-Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running....
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Published in | International journal of advanced robotic systems Vol. 10; no. 1 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
Published |
London, England
SAGE Publications
10.01.2013
Sage Publications Ltd SAGE Publishing |
Subjects | |
Online Access | Get full text |
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