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Unified controller for both trajectory tracking and point regulation of second-order nonholonomic chained systems.
Bao Li Ma
Shiu Kit Tso
Published in:
Robotics Auton. Syst. (2008)
Keyphrases
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trajectory tracking
control law
closed loop
iterative learning control
control system
sliding mode
dynamic model
control algorithm
nonlinear systems
feedback control
tracking control
real time
motion planning
bi directional
physical constraints