Trajectory-Tracking Control of a Nonholonomic Mobile Robot: backstepping Kinematics into Dynamics with uncertain disturbances

Ming Yue, Feiyun Tang, Baoyin Liu, Baozhen Yao. Trajectory-Tracking Control of a Nonholonomic Mobile Robot: backstepping Kinematics into Dynamics with uncertain disturbances. Applied Artificial Intelligence, 26(10):952-966, 2012. [doi]

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