Geodesic
Stable Feedback Control of a Fast Wheeled Robot
Russian journal of nonlinear dynamics, Tome 14 (2018) no. 3, pp. 409-417.

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We obtain criteria for the stability of fast straight-line motion of a wheeled robot using proportional or proportional derivative feedback control. The motion of fast robots with discrete feedback control is defined by the discrete dynamical system. The stability criteria are obtained for the discrete system for proportional and proportional-derivative feedback control.
Keywords: feedback control, stability, robotics. 
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O. M. Kiselev. Stable Feedback Control of a Fast Wheeled Robot. Russian journal of nonlinear dynamics, Tome 14 (2018) no. 3, pp. 409-417. http://geodesic.mathdoc.fr/item/ND_2018_14_3_a9/

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