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This paper presents kinematic control problem of skid-steering mobile robot using practical smooth and time-varying stabilizer. The stability result is proved using Lyapunov analysis and takes into account both input signal saturation and uncertainty of kinematics. In order to ensure stable motion of the robot the condition of permissible velocities is formulated according to dynamic model and wheel-surface...
The paper presents a comparison of selected smooth and time-differentiable control laws used for stabilization of nonholonomic two-wheeled mobile robot. The significant part of the research is concentrated on application of these algorithms in resolving parallel parking problem. Some remarks concerning tuning of the controllers and their robustness to the delay in control loop are given
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