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dc.contributor.authorAkhtar, Adeel 14:19:32 (GMT) 14:19:32 (GMT)
dc.description.abstractIn the field of mobile robotics, many applications require feedback control laws that provide perfect path following. Previous work has shown that transverse feedback linearization is an effective approach to designing path following controllers that achieve perfect path following and path invariance. This thesis uses transverse feedback linearization and augments it with dynamic extension to present a framework for designing path following controllers for certain kinematic models of mobile robots. This approach can be used to design path following controllers for a large class of paths. While transverse feedback linearization makes the desired path attractive and invariant, dynamic extension allows the closed-loop system to achieve the desired motion along the path. In particular, dynamic extension can be used to make the mobile robot track a desired velocity or acceleration profile while moving along a path.en
dc.publisherUniversity of Waterlooen
dc.subjectPath Followingen
dc.subjectFeedback Linearizationen
dc.subjectCar-Like Roboten
dc.subjectMobile Roboten
dc.subjectDifferential Flatnessen
dc.subjectSet Stabilizationen
dc.subjectTrailer Systemen
dc.titleDynamic path following controllers for planar mobile robotsen
dc.typeMaster Thesisen
dc.subject.programElectrical and Computer Engineeringen and Computer Engineeringen
uws-etd.degreeMaster of Applied Scienceen

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