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The article proposes a new feedback control model which is suited for path following in a 3 Dimensional Cartesian space. Differently from other methods in literature, the method proposed neither requires to compute a projection of the robot's position on the path, nor it needs considering a moving virtual target. In spite of this: i) it guarantees asymptotic stability for every 3D curve which can...
The article proposes a new feedback control model that allows to track a generic curve in the Cartesian Space expressed through its implicit equation, and has minimal requirements in terms of measurement and computation capabilities. The model measures only the distance between the vehicle and the path, whereas it ignores the vehicle's orientation. In spite of this, it allows to regulate to zero both...
This paper proposes an adaptive nonlinear controller to stabilize an autonomous wheeled mobile robot. The controller equations are obtained following a backstepping approach. The robot model is divided into two parts: a state space model with intermediate control inputs and algebraic nonlinear equations relating the true and the intermediate control inputs. The robot parameters are assumed unknown...
The article proposes a new feedback control model that allows to track a generic curve in the Cartesian Space expressed through its implicit equation, and has minimal requirements in terms of measurement and computation capabilities. The model measures only the distance between the vehicle and the path, whereas it ignores the vehicle's orientation. In spite of this, it allows to regulate to zero both...
In this paper, a novel approach for dynamic based stabilization of a three-wheel mobile robot is presented. One of the well-known and well-established approaches for stabilization of mobile robots is converting the kinematic model of the robot to a chained form. In order to extend this method to dynamic based stabilization, kinematic and dynamic subsystems of the mobile robot state-space model can...
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