On path following control of nonholonomic mobile manipulators
Alicja Mazur, Dawid Szakiel (2009)
International Journal of Applied Mathematics and Computer Science
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This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of...