Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer

DOI10.1002/acs.2382zbMath1330.93168OpenAlexW1916484883MaRDI QIDQ5743749

J. Taheri-Kalani, M. J. Khosrowjerdi

Publication date: 8 February 2016

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/acs.2382

zbMATH Keywords

uncertaintywheeled mobile robotmodel reference adaptive control (MRAC)disturbance observer (DOB)

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Observability (93B07) Artificial intelligence for robotics (68T40)

Related Items (4)

Fuzzy adaptation algorithms' control for robot manipulators with uncertainty modelling errors ⋮ Tracking control for mobile robots considering the dynamics of all their subsystems: experimental implementation ⋮ Neural adaptive robust output feedback control of wheeled mobile robots with saturating actuators ⋮ Robust contour tracking of nonholonomic mobile robots via adaptive velocity field motion planning scheme

Cites Work

• Nonlinear control systems.
• Tracking control of mobile robots: A case study in backstepping

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