Paper
Tracking Control of a Nonholonomic Wheeled Mobile Robot
- Authors:
- Abdul Rashid Husain; Shamsudin H.M. Amin; Ibrahim M.H. Sanhoury
- Abstract
- This paper proposed a tracking control law for the kinematic model of the nonholonomic wheeled mobile robot (WMR). A Lyapunov candidate function is used to prove the stability of the controller. Simulation results verify the effectiveness of the proposed control law, where, a better path tracking of the mobile robot is achieved.
- Keywords
- Wheeled Mobile Robot; Trajectry Tracking; Steering System; Nonholonomic; Kinematic Model
- StartPage
- 7
- EndPage
- 11
- Doi