Abstract
The paper focuses on the problem of synthesis of path following control for a robot with omni wheels. Control is synthesized using differential geometry methods through nonlinear transformation of the initial dynamic model. The main results are presented in the form of nonlinear control algorithm and experimental data.
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Original Russian Text © J. Wang, A.Yu. Krasnov, Yu.A. Kapitanyuk, S.A. Chepinskiy, Y. Chen, H. Liu, 2016, published in Giroskopiya i Navigatsiya, 2016, No. 3, pp. 131–142.
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Wang, J., Krasnov, A.Y., Kapitanyuk, Y.A. et al. Path following control algorithms implemented in a mobile robot with omni wheels. Gyroscopy Navig. 7, 353–359 (2016). https://doi.org/10.1134/S2075108716040118
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DOI: https://doi.org/10.1134/S2075108716040118