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Passivity-based control of an omnidirectional mobile robot
This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. First, the passivity property of the prototype robot is ana...
Autores principales: | Ren, Chao, Sun, Yi, Ma, Shugen |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer Berlin Heidelberg
2016
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4937087/ https://www.ncbi.nlm.nih.gov/pubmed/27446772 http://dx.doi.org/10.1186/s40638-016-0037-z |
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