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A solution is presented to the robust control problem of wheeled mobile robots moving on an uneven surface that is not exactly known. Quadratic surface with unknown but bounded coefficients is utilized to locally approximate the uneven surface. The design procedure is based on the transverse function method, integrator backstepping, and Lyapunov redesign technique. After exploring the left-invariance...
This paper focuses on the trajectory tracking problem of wheeled mobile robots not satisfying the ideal "rolling without slipping" constraints. Robust control laws are proposed to deal with the slipping of the wheels. The design procedure consists of three main steps. A bounded transverse function is firstly constructed, by which a smooth embedded submanifold is defined, and the nominal...
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