Control of Mobile Robots with Bounded Inputs in a Rigid Formation

Amit Ailon

doi:10.4028/www.scientific.net/SSP.260.38

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Control of Mobile Robots with Bounded Inputs in a Rigid Formation

Abstract:

This study presents controllers for trajectory tracking for the kinematic model of an Unmanned Ground Vehicle (UGV) subject to bounded inputs. The proposed controllers are based on smooth uniformly bounded functions that can easily be realized. Some results are demonstrated.

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Periodical:

Solid State Phenomena (Volume 260)

Pages:

38-44

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.260.38

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Online since:

July 2017

Authors:

Amit Ailon*

Keywords:

Bounded Inputs, Group Control, Mobile Robot, Nonlinear Control, Trajectory Tracking

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* - Corresponding Author

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