Lyapunov based global trajectory tracking control of wheeled mobile robot
نویسندگان
چکیده
Abstract This paper considers the global trajectory tracking control problem of wheeled mobile robot. A novel controller for kinematic model robot is presented based on cascaded approach theory. Meanwhile, by using Lyapunov stability theory, proved. Finally, proposed scheme implemented The simulation results show effectiveness controller.
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ژورنال
عنوان ژورنال: Journal of physics
سال: 2023
ISSN: ['0022-3700', '1747-3721', '0368-3508', '1747-3713']
DOI: https://doi.org/10.1088/1742-6596/2478/10/102018