Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout

• Main Authors: Tang, Howe Hing, Mailah, Musa
• Format: Article
• Language: English
• Published: Faculty of Mechanical Engineering 2006
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/6491/1/MusaMailah2006_MotionControlofNonholonomicWheeledMobile.pdf; http://eprints.utm.my/id/eprint/6491/; https://www.fkm.utm.my/~mekanika

This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus- derivative (RMAC-PID). The two newly formulated contr...