Robust control for a wheeled mobile robot to track a predefined trajectory in the presence of unknown wheel slips
In this paper, a robust controller for a nonholonomic wheeled mobile robot (WMR) is proposed for tracking a predefined trajectory in the presence of unknown wheel slips, bounded external disturbances, and model uncertainties. The whole control system consists of two closed loops. Specifically, the...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Publishing House for Science and Technology
2018-06-01
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| Series: | Vietnam Journal of Mechanics |
| Subjects: | |
| Online Access: | https://vjs.ac.vn/index.php/vjmech/article/view/10564 |
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