DOI 10.17586/0021-3454-2017-60-9-842-849
UDC 681.5
TRAJECTORY CONTROL FOR MOBILE ROBOTS IN THE PRESENCE OF EXTERNAL DISTURBANCES
ITMO University, Saint Petersburg, 197101, Russian Federation; Lecturer
S. A. Chepinsky
ITMO University; Associate professor
. Chen Yifan
ITMO University; Post-Graduate Student
. Liu Huimin
ITMO University, Department of Control Systems and Informatics; Post-Graduate Student
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Abstract. The problem of synthesis of trajectory control in the presence of unmeasurable constant external disturbances is studied with the use of differential geometry methods. The problem is noted to be a reasonable extension of the classical trajectory control problem. The developed procedure for controller synthesis to solve the described problem is presented. The efficiency of the proposed controllers is demonstrated with results of computer modeling.
Keywords: trajectory control, coordinates transformation, external disturbances
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