Abstract
This document presents a unified movement control scheme for mobile robots, a mobile four-wheel steering robot, which solves the control of the position of points, tracking problems of trajectories and path following. The control problem is solved according to the CLMR-4WS kinematic model. Then, a control scheme of two angular positions and one heading velocity is considered. The stability of the system is shown through the Lyapunov method.
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Acknowledgements
The authors would like to thanks to the Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia –CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA-XI-2017-06; Control Coordinado Multi-operador aplicado a un robot Manipulador Aéreo; also to Universidad de las Fuerzas Armadas ESPE, Universidad Técnica de Ambato, Escuela Superior Politécnica de Chimborazo, Universidad Nacional de Chimborazo, and Grupo de Investigación en Automatización, Robótica y Sistemas Inteligentes, GI-ARSI, for the support to develop this paper.
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Vargas, M.F., Sarzosa, D.S., Andaluz, V.H. (2018). Unified Nonlinear Control for Car-like Mobile Robot 4 Wheels Steering. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_16
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DOI: https://doi.org/10.1007/978-3-319-97589-4_16
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