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• W2356659968 abstract "Optimal state feedback control was studied for trajectory tracking control of a four-wheel mobile robot in the presence of measure noise,model noise and input signal noise.The kinematic and dynamic model and the trajectory generation of the omnidirectional vehicle were established.The discrete state equations were derived.Then an optimal state feedback controller based on Lyapunov stability using the Kalman filter state with white noises estimation technique was derived.A self-adaptive control algorithm was presented to compensate for the effects of input signal noise.Simulation results demonstrate that the model measurement and input signal noises and disturbances of the system can be effectively compensated;the tracking precision and dynamic response speed of the system can be obviously increased." @default.
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• W2356659968 date "2009-01-01" @default.
• W2356659968 modified "2023-09-24" @default.
• W2356659968 title "Optimal state feedback control for trajectory tracking of four-wheel mobile robot" @default.
• W2356659968 doi "https://doi.org/10.3785/j.issn.1008-973x.2009.12.010" @default.
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