Adaptive estimation of nonlinear parameters of a nonholonomic spherical robot using a modified fuzzy-based speed gradient algorithm

DOI10.1134/S1560354717030030zbMath1379.93090OpenAlexW2621066754MaRDI QIDQ1695051

Mehdi Roozegar, Moosa Ayati, Mohammad J. Mahjoob

Publication date: 6 February 2018

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1134/s1560354717030030

zbMATH Keywords

adaptive estimationfuzzy logic controllerspeed gradient methodNewton-Euler strategynonholonomic spherical robotnonlinear in parameters

Mathematics Subject Classification ID

Fuzzy control/observation systems (93C42) Adaptive control/observation systems (93C40) Estimation and detection in stochastic control theory (93E10) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Dynamics of multibody systems (70E55) Motion of a rigid body in contact with a solid surface (70E18) Nonholonomic dynamical systems (37J60)

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Controlled motion of a spherical robot with feedback. I, Speed gradient method and its applications

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