Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model

<table class="fixed-width table-group" id="tab3"><tr><td><table class="table"><colgroup><col style="width:5.76em"/><col style="width:3.25em"/><col style="width:2.57em"/><col style="width:2.69em"/><col style="width:2.95em"/><col style="width:2.95em"/><col style="width:2.57em"/><col style="width:2.70em"/><col style="width:2.61em"/><col style="width:2.75em"/></colgroup><tr><td class="thead-hr" colspan="10"><hr/></td></tr><tr><td class="align_left">Parameters</td><td class="align_center"><span style="width: 12.496899ptpx;"><svg height="12.044448pt" id="M210" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.049816 -8.753338 12.496899 12.044448" width="12.496899pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,7.516,-.222)"><path d="M-161 571C-161 600 -183 623 -212 623C-238 623 -262 600 -262 571C-262 544 -238 520 -212 520C-183 520 -161 544 -161 571Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path 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colspan="10"><hr/></td></tr><tr><td class="align_left">Value</td><td class="align_center">50°/s</td><td class="align_center">14</td><td class="align_center"><span style="width: 15.601528ptpx;"><svg height="8.555213pt" id="M219" style="vertical-align:-0.2063942pt" version="1.1" viewbox="-0.049816 -8.348819 15.601528 8.555213" width="15.601528pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.263,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z"></path></g><g transform="matrix(.013,0,0,-0.013,9.239,0)"><path d="M153 550H386L412 615L406 623H120L82 318C104 327 142 338 184 338C294 338 347 275 347 187C347 112 305 39 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<div>Parameters value of the steering control strategy in simulation.</div>

Mathematical Problems in Engineering

tab3

Table 3

Table 3: Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model 