@inproceedings{fe52afbfa01744db97503df10df26dd3,
title = "Model-based Nonlinear Control of 2-WMR",
abstract = "A solid low-level movement control is essential for a successful contest robot. For two-wheeled mobile robots (WMR) numerous control approaches can be found in literature. In this contribution it is shown how the low-level control of a WMR can be systematically developed by model based design techniques. The resulting controller is able to asymptotically track given motion profiles for any reference point fixed to the robot chassis by a small extension of the well known look-ahead control.",
keywords = "WMR, differential drive, model based design, nonlinear control, wheeled mobile robot",
author = "Gernot Grabmair",
year = "2011",
doi = "10.1007/978-3-642-21975-7_12",
language = "English",
isbn = "9783642219740",
series = "Communications in Computer and Information Science",
publisher = "Springer",
pages = "123--129",
booktitle = "Research and Education in Robotics, EUROBOT 2011 - International Conference, Proceedings",
address = "Germany",
note = "EUROBOT 2011 ; Conference date: 01-01-2011 Through 01-01-2011",
}