Title
A Near Optimal Tracking Control Of Dynamic Nonholonomic Systems
Abstract
In this paper, the tracking problem of dynamic nonholonomic systems is investigated. By separately considering kinematic and dynamic models of a nonholonomic system, a new real-time near-optimal control is proposed based on the backstepping design. Besides being implementable online, the proposed control has the property that its closeness to the optimal control obtained off-line and numerically can be measured and monitored. To show its effectiveness, the proposed control is simulated for a unicycle wheeled mobile robot.
Publication Date
1-1-2003
Publication Title
Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
Volume
2003-October
Number of Pages
202-207
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/RISSP.2003.1285574
Copyright Status
Unknown
Socpus ID
84990913762 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/84990913762
STARS Citation
Wang, Jing and Qu, Zhihua, "A Near Optimal Tracking Control Of Dynamic Nonholonomic Systems" (2003). Scopus Export 2000s. 1924.
https://stars.library.ucf.edu/scopus2000/1924