On Adaptive Linearizing Control of Omnidirectional Mobile Robots
We discuss the design of linearizing control algorithms for a particular class of non linear systems: “omnidirectional mobile robots”. We analyse 2 kinds of control : input state linearization and input-output linearization. We discuss also the design of adaptive linearizing control to cope with lack of knowledge of the mass distribution of the payload.
KeywordsTorque Mellon Cute
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