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A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control
MATEC Web of Conferences
A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots. Only kinematics controller is not enough for some cases such as the environment is rugged, and the dynamics parameters of the robot are time-varying. Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy. First, we obtain the kinematic error state equations according to thedoi:10.1051/matecconf/201816006003 fatcat:u3pdtwcalrbjzjw5cwvtfjdfoq