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Tracking control of mobile robots: A case study in backstepping. (English) Zbl 0882.93057
The paper considers the controlled system \[ \dot x=\nu\cos\theta,\quad\dot y=\nu\sin\theta,\quad\dot\theta= \omega, \] where \(\nu\) and \(\omega\) are control variables. Feedback stabilization and tracking are considered using a suitable quadratic Lyapunov function.

93C85 Automated systems (robots, etc.) in control theory
93D15 Stabilization of systems by feedback
70Q05 Control of mechanical systems
Full Text: DOI
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