Model-based Nonlinear Control of 2-WMR

Research output: Chapter in Book/Report/Conference proceedingsConference contribution

1 Citation (Scopus)


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.

Original languageEnglish
Title of host publicationResearch and Education in Robotics, EUROBOT 2011 - International Conference, Proceedings
PublisherSpringer Verlag
Number of pages7
ISBN (Print)9783642219740
Publication statusPublished - 2011
EventEUROBOT 2011 - -, Czech Republic
Duration: 1 Jan 20111 Jan 2011

Publication series

NameCommunications in Computer and Information Science
Volume161 CCIS
ISSN (Print)1865-0929


ConferenceEUROBOT 2011
CountryCzech Republic


  • WMR
  • differential drive
  • model based design
  • nonlinear control
  • wheeled mobile robot

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