TY - GEN
T1 - Controllers for trajectory tracking and string-like formation in wheeled mobile robots with bounded inputs
AU - Ailon, Amit
AU - Zohar, Ilan
PY - 2010/7/9
Y1 - 2010/7/9
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77954295741&partnerID=8YFLogxK
U2 - 10.1109/MELCON.2010.5476283
DO - 10.1109/MELCON.2010.5476283
M3 - Conference contribution
AN - SCOPUS:77954295741
SN - 9781424457953
T3 - Proceedings of the Mediterranean Electrotechnical Conference - MELECON
SP - 1563
EP - 1568
BT - MELECON 2010 - The 15th IEEE Mediterranean Electrotechnical Conference
T2 - 15th IEEE Mediterranean Electrotechnical Conference, MELECON 2010
Y2 - 25 April 2010 through 28 April 2010
ER -