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18 February 2002 Robust backstepping control of tracked mobile robot
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Proceedings Volume 4573, Mobile Robots XVI; (2002)
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States
This paper addresses the tracking problem of tracked mobile robot. After the kinematic model of the nonholonomic system has been discussed, a robust motion controller based on backstepping technique is proposed for the TMR. Some singular perturbations, which maybe occur in practical situations, are also taken into account in order to ensure the tracking error of the closed-loop system to converge toward zero. Simulation results are provided to validate that the proposed controller ensure the TMR asymptotically track the desire trajectory.
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Meng Ji, Zhenguo Sun, Junbo Wang, and Qiang Chen "Robust backstepping control of tracked mobile robot", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002);

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