Controllers for trajectory tracking and string-like formation in wheeled mobile robots with bounded inputs

Amit Ailon, Ilan Zohar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Scopus citations

Abstract

This study presents simple controllers for achieving trajectory tracking for the kinematic model of a Wheeled Mobile Robots (WMRs) with bounded inputs. The proposed controllers are based on smooth uniformly bounded functions that can easily be realized. The underlying tracking controller can be applied to control a group of WMRs, in particular for achieving a string-like formation.

Original languageEnglish
Title of host publicationMELECON 2010 - The 15th IEEE Mediterranean Electrotechnical Conference
Subtitle of host publicationBook of Abstracts
Pages1563-1568
Number of pages6
DOIs
StatePublished - 9 Jul 2010
Event15th IEEE Mediterranean Electrotechnical Conference, MELECON 2010 - Valletta, Malta
Duration: 25 Apr 201028 Apr 2010

Publication series

NameProceedings of the Mediterranean Electrotechnical Conference - MELECON

Conference

Conference15th IEEE Mediterranean Electrotechnical Conference, MELECON 2010
Country/TerritoryMalta
CityValletta
Period25/04/1028/04/10

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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