TERMINAL MOTION CONTROL OF MOBILE ROBOT TRANSPORT SYSTEMS

We describe a technique for synthesizing the terminal control algorithms. The structure of the algorithms is synthesized from the condition of the travel of the controlled object along the desired trajectory to the designated (terminal) state in a strictly defined time interval. The studies are performed in application to a three-wheel system, the propulsor of which is mounted on the steerable wheel, we present the results of the mathematical modeling of the processes of the control of the motion of the transport system.