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In this paper the extremum periodic trajectory of the two-dimensional selector-linear differential inclusion (SLDI) is used to estimate boundary of the invariant set of the nonlinear time-varying system arising in the stability analysis of the wheeled robot control. The motion is supposed to be planar without a lateral slippage. The control goal is to drive the target point of the robot plaform to...
The point stabilization problem of a tracked mobile robot with slipping efficiency is discussed in this paper. The kinematic model of the tracked vehicle violating pure nonholonomic constraint is created, in which the slipping is modeled as time-varying parameter related to the velocity of robot and ground conditions. By transforming the original system to the special chained form of nonholonomic...
We developed a discontinuous controller to stabilize the movement of a unicycle mobile robot around a desired trajectory via backstepping methodology. The main contribution of the paper is that chattering signal, produced by the imprecision of the discontinuous terms, vanished thanks to an adaptive gain that reduces the chattering level once the position errors were zero. A stability analysis of the...
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