Paper

Tracking Control of a Nonholonomic Wheeled Mobile Robot


Authors:
Abdul Rashid Husain; Shamsudin H.M. Amin; Ibrahim M.H. Sanhoury
Abstract
This paper proposed a tracking control law for the kinematic model of the nonholonomic wheeled mobile robot (WMR). A Lyapunov candidate function is used to prove the stability of the controller. Simulation results verify the effectiveness of the proposed control law, where, a better path tracking of the mobile robot is achieved.
Keywords
Wheeled Mobile Robot; Trajectry Tracking; Steering System; Nonholonomic; Kinematic Model
StartPage
7
EndPage
11
Doi
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