Abstract
The problem of synthesis of a control system for a wheeled robotic vehicle consisting of two links (driving and driven) is analyzed. The robot is considered to be a controlled system of rigid bodies with nonholonomic constraints and to have two steerable wheels. Additionally, it is necessary to decide where the second steerable wheel is (on the driving or driven link). In this connection, two models of a compound wheeled robotic vehicle with two steerable wheels are considered. For these models, the problem of synthesis of feedback is solved. They are compared by modeling
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