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Journal of Automation and Information Sciences
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ISSN Print: 1064-2315
ISSN Online: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v41.i7.50
pages 71-80

Stabilization of Motion of the Wheeled Transport Robot without a Steering Wheel

Vladimir B. Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine


The model of wheeled transport robot without a steering wheel, taking into account dynamic effects, is considered. The nonlinear algorithm of stabilizing the motion of such model is proposed. This algorithm is generalized to the case of tracking the given program trajectory by the robot. The effectiveness of the proposed algorithms is illustrated by examples.

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