The authors design a path tracking controller for a trailer-like mobile robot which has the following properties: (1) the stability of the control can be evaluated analytically; (2) the trailer-like mobile robot tracks the desired path even when it moves backward; and (3) the control varies according to the environment and/or the velocity of the robot without violating the stability of the control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Sampei et al. (2002) studied this question.
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