Guided control of a transporter

摘要: A method for conducting the motion of a transporter under riderless conditions. The has two laterally disposed primary wheels. In accordance with method, an input is received via user on and control signal corresponding to generated. Then torque applied wheels so as propel basis at least signal. may correspond either commanded or velocity. include coadded terms where are, respectively, proportional signal, counteracting artificial friction common velocity wheels, term differential rotation facilitate turning transporter.