Abstract
Two systems are described in this work. The first system is based on four dual-band GNSS (L1+L2, GPS/GLONASS) receiver boards. The second system consists of a single dual-band GNSS receiver and an INS block. Application of the integrated system in control of wheeled robots is considered. The control is the turning angle of the front wheels. The control goal is to bring the target point of the robot to a given trajectory and to stabilize its motion along that trajectory. The control synthesis problem is solved by applying the feedback linearization technique.
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