Geodesic
Deviation based discrete control algorithm for omni-wheeled mobile robot
Russian journal of nonlinear dynamics, Tome 9 (2013) no. 1, pp. 91-100.

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The paper deals with deviation based control algorithm for trajectory following of omni-wheeled mobile robot. The kinematic model and the dynamics of the robot actuators are described.
Keywords: omni-wheeled mobile robot, discrete algorithm, deviation based control, linearization, feedback. 
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Yuri L. Karavaev; Sergey A. Trefilov. Deviation based discrete control algorithm for omni-wheeled mobile robot. Russian journal of nonlinear dynamics, Tome 9 (2013) no. 1, pp. 91-100. http://geodesic.mathdoc.fr/item/ND_2013_9_1_a7/

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