Parametrical Synthesis of Control Law for Mobile Robot Motion in Urban Conditions

The problem is solved regarding the parametrical synthesis of the control law for a mobile wheeled robot motion along the flat relief (along the pavement in urban conditions). The motion equations are considered that take into account the robot's dynamical characteristics and engines of driving wheels. The linearization was performed which allowed one to derive the linear stationary model of control object and on its basis to choose the parameter value providing aperiodic motion trajectory.