Tracking control of unicycle-modeled mobile robots using a saturation feedback controller

By Ti-Chung Lee, Kai‐Tai Song, Ching-Hung Lee, Ching-Cheng Teng. IEEE Transactions on Control Systems Technology, 2001

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WMR control via dynamic feedback linearization: design, implementation, and experimental validation (2002, background): “…tasks has been explicitly addressed in [16], where exponential tracking is, however, achieved only for persistently exciting trajectories, and in [17], through an approach similar to Samson's original idea [9] of obtaining (unfortunately very slow) convergence to a desired posture by solving an…”
Tracking-error model-based predictive control for mobile robots in real time (2007, neutral): “Keywords: Predictive control; Trajectory tracking; Mobile robot”
Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates (2004, methodology): “Thus, the dynamic equations are given by (8) where Defining variables and in (4) as and , a nonholonomic constraint on the rolling motion of the robot wheel without slipping, given by (2), can be expressed as (9) The kinematic equations in Cartesian coordinates corresponding to (4) is (10) where…”
Optimization of Interval Type-2 Fuzzy Logic Controllers for a Perturbed Autonomous Wheeled Mobile Robot Using Genetic Algorithms (2009, neutral): “In what follows, it is assumed that the motion of the passive wheel can be ignored in the dynamics of the mobile robot represented by the following set of equations [26]: MðqÞ _ v þ Cðq; _ qÞv þ Dv 1⁄4 sþ PðtÞ ð17Þ”