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Mobile Robot Control II

Affine Systems and Invariant Manifold Methods

Mobile robots are highly nonlinear, and especially nonholonomic constraints have motivated the development of highly nonlinear control techniques. In Chapter 5, the basic computed torque/motion and Lyapunov-based control design techniques were presented. The goal of this chapter is to provide further advanced mobile robot controllers using the affine system, state feedback linearization theory, and the invariant manifolds methodology.

In particular, this chapter (i) presents the fundamental concepts of affine control systems, and invariant/attractive manifolds theory, (ii) presents a number of feedback linearization and linear trajectory tracking controllers for differential-drive ...

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