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		<identifier>oai:zbc.uz.zgora.pl:78793</identifier>
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<dc:title xml:lang="pl"><![CDATA[Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system]]></dc:title>
<dc:creator><![CDATA[Michałek, Maciej]]></dc:creator>
<dc:creator><![CDATA[Dutkiewicz, Piotr]]></dc:creator>
<dc:creator><![CDATA[Kiełczewski, Marcin]]></dc:creator>
<dc:creator><![CDATA[Pazderski, Dariusz]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[differentially driven mobile robot]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[skid-slip compensation]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[trajectory tracking]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[vector fields]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Zieliński, Cezary - ed.]]></dc:contributor>
<dc:date><![CDATA[2009]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/78793/AMCS_2009_19_4_3.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/88584/edition/78793/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:78793]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 19, number 4 (2009)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=39]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:88584]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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