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In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the origin. Lyapunov candidate function is used to prove that the closed loop system is asymptotically stable...
Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, the paper presents an adaptive trajectory tracking method based on the kinematics model. After analyzing the shortage of classical trajectory tracking control rule, the idea of the single point preview is introduced to the method to improve the effect of trajectory tracking, as well as an artificial field is combined...
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