Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots
Julio A. Báez-Hernández,
Martín Velasco-Villa,
Sabine Mondié
Abstract:This work addresses the trajectory tracking problem for a non-holonomic differential drive mobile robot with a constant time delay h at the input signal. To compensate for the adverse effects of the input time delay on the vehicle, a non-linear prediction-observer scheme based on a sub-prediction strategy that asymptotically estimates the future values of the state, h units of time ahead was introduced, and, thanks to the characteristics of the system, a condition which depends only on the gains of the predict… Show more
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