Constraint-Following Control for Mobile Robots: A Hierarchical Approach

This study addresses the problem of constraint-following control of mobile robots with different categories of constraints by using a hierarchical approach. The approach is proposed based on Udwadia-Kalaba theory. When unconstrained mobile robots with complex generalized coordinates applied structural constraints as well as motion constraints, the number of constraints may be large and difficult to handle. What is more, it is difficult to obtain...