Journal of Applied Mathematics and Mechanics (about journal) Journal of Applied
Mathematics and Mechanics

Russian Academy of Sciences
 Founded
in January 1936
(Translated from 1958)
Issued 6 times a year
ISSN 0021-8928
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IssuesArchive of Issues2015-4pp.316-324

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A.S. Andreyev and O.A. Peregudova, "The motion control of a wheeled mobile robot," J. Appl. Math. Mech. 79 (4), 316-324 (2015)
Year 2015 Volume 79 Issue 4 Pages 316-324
DOI 10.1016/j.jappmathmech.2016.01.002
Title The motion control of a wheeled mobile robot
Author(s) A.S. Andreyev (Ul'yanovsk State University, Russia, andreevas@ulsu.ru)
O.A. Peregudova (Ul'yanovsk State University, Russia, peregudovaoa@gmail.com)
Abstract The problems of stabilizing controlled motions and tracking the trajectory of a mobile robot with three roller-carrying wheels are investigated. The novelty of the results lies in the construction of control actions that solve the stabilization and tracking problems for a wide variety of programmed motions and trajectories of the robot taking into account the non-linearity and non-stationary nature of the system and its unknown mass-inertia characteristics.
Received 30 September 2014
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