In path following control, the forward velocity can be seen as an additional degree of freedom. However, many path following control laws assume that the forward velocity is a constant and actuators are ideal, i.e., no actuator constraints. Unfortunately, these controllers cannot be realized in real-world implementation. Thus, we propose an extension to an existing path following controller in ...

A shortest path problem is a practical issue in networks for real-world situations. This paper addresses the fuzzy shortest path (FSP) problem to obtain the best fuzzy path among fuzzy paths sets. For this purpose, a new efficient algorithm is introduced based on a new definition of ideal fuzzy sets (IFSs) in order to determine the fuzzy shortest path. Moreover, this algorithm is developed for ...

This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, an...