State Feedback Control to Track a Moving Object for a Non-Holonomic Mobile Robot
In this paper, a state feedback control algorithm for non-holonomic robot to track a moving object is described. In order to generate continuous velocity profile, some independent time varying functions are introduced for calculation the state feedback variables. The simulation of the control algorithm is implemented with MATLAB. The results shows that, with the designed state feedback control algorithm, the wheeled mobile robot can track a moving object and the trajectory is also reasonable.
Y. C. Hui et al., "State Feedback Control to Track a Moving Object for a Non-Holonomic Mobile Robot", Applied Mechanics and Materials, Vols. 44-47, pp. 646-650, 2011