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Trajectory Tracking Control for A Wheeled Mobile Robot  

Kim, Jin-Hwan (Department of Electrical Information, Inha Technical College)
Publication Information
전자공학회논문지 IE / v.46, no.4, 2009 , pp. 73-77 More about this Journal
Abstract
This paper presents the trajectory tracking control for mobile robot. The designed controller consists of kinematic and dynamic controller. Kinematic controller has two gains and it reduces the trial time for gain setting as compared convectional controller with three gains. Dynamic controller includes the compensation of friction and disturbance. It can improve the performance of the trajectory tracking under the various environment. Simulation results shows that the proposed controller has a stable performance.
Keywords
mobile robot; kinematic control; dynamic control;
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