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dc.contributor.authorLi, Yuqian 20:27:44 (GMT) 20:27:44 (GMT)
dc.description.abstractWe propose and solve a synchronized path following problem for a differential drive robot modeled as a dynamic unicycle and an Euler-Lagrange system. Each system is assigned a simple closed curve in its output space. The outputs of systems must approach and traverse their assigned curves while synchronizing their motions along the paths. The synchronization problems we study in this thesis include velocity synchronization and position synchronization. Velocity synchronization aims to force the velocities of the systems be equal on the desired paths. Position synchronization entails enforcing a positional constraint between the systems modeled as a constraint function on the paths. After characterizing feasible positional constraints, a finite-time stabilizing control law is used to enforce the position constraint.en
dc.publisherUniversity of Waterlooen
dc.subjectpath followingen
dc.subjectmobile roboten
dc.subjectEluer-Lagrange systemen
dc.titleSynchronized closed-path following for a mobile robot and an Euler-Lagrange systemen
dc.typeMaster Thesisen
dc.subject.programElectrical and Computer Engineeringen and Computer Engineeringen
uws-etd.degreeMaster of Applied Scienceen

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