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In this paper, dynamic modeling and control design problems for planar motion of a differentially steered wheeled mobile robot (DSWMR) are analyzed. The dynamic model depends on the geometric configuration of the robot and helps in constructing robot trajectory. Two control design schemes are presented. In the first scheme and based on an appropriate linearized model, the control design focuses on...
This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR U+0028 inverted pendulum type assistant robot U+0029. The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator U+0028 LQR U+0029,...
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