... sliding mode controller multibody dynamics sharp curve trajectory tracking mobile robot nonholonomic autonomous systems control applications dynamics and control multibody systems nonlinear control robotics sliding mode control vehicle dynamics and control The indicated slightly...

... dynamic model of a nonholonomic omni-wheel robot, including roller dynamics. That allows for a proportional–integral–derivative control law to accurately follow arbitrary paths. Kane’s approach was used for the dynamic model derivation. Kinematic modeling is less complex than multibody dynamic modeling...