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TWO-WHEELED MOBILE ROBOT MOTION CONTROL BASED ON DISCRETE TERMINAL STATE METHOD
Journal: Science and world (Vol.1, No. 32)Publication Date: 2016-04-14
Authors : Afonina A.A.; Bezuglaya A.E.; Shushlyapin E.A.; Podolskaya O.G.;
Page : 28-33
Keywords : time-discrete systems; two-wheeled mobile robot; discrete terminal state method.;
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Abstract
In this paper, a discrete nonlinear model of a two-wheeled mobile robot is explored and a terminal control is developed for it. The development of control function is based on discrete terminal state method previously developed by the paper authors. This control method includes numerical solution of nonlinear equations of special form.
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Last modified: 2016-08-15 19:35:47