Chapter 3

Control of Wheeled Mobile Systems


This chapter presents various control algorithms for driving the wheeled mobile robots to the goal pose, along the reference path or trajectory. The main emphasis of the chapter is on the control differential and Ackermann drive that are challenging to control due to nonholonomic constraints. Various designs of control algorithms are presented: basic velocity control, dynamic feedback linearization, Lyapunov-based control algorithms, Takagi-Sugeno fuzzy control, model-based predictive control, control based on particle swarm optimization, and visual servoing approaches. A control scheme of trajectory tracking is normally designed as a combination of feedforward and feedback control loops. ...

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