PATH TRACKING CONTROL AND STABILIZATION OF MOBILE CART

Geometric path tracking control and stabilization of mobile cart are investigated in this paper. A control scheme is developed to track the desired geometric path in constant speed,and the convergence of actual motion path of cart to the desired one is verified In addition,the stabilization scheme of mobile cart is also proposed,which can move the cart from an arbitary position and attitude to the desired Ones.Simulation results are given to demonstrate the proposed schemes.