A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation.
Mario Emanuel SerranoSebastian Alejandro GodoyVicente A. MutOscar Alberto OrtizGustavo Juan Eduardo ScagliaPublished in: Robotica (2016)
Keyphrases
- trajectory tracking
- neural network controller
- mobile robot
- visual servoing
- closed loop
- tracking error
- reference trajectory
- control law
- control system
- dynamic model
- motion control
- physical constraints
- bi directional
- iterative learning control
- iterative learning
- control algorithm
- control method
- control scheme
- sliding mode
- path planning
- variable structure
- autonomous robots
- lyapunov function
- motion planning
- pid controller
- desired trajectory
- control parameters
- chaotic systems
- control theory
- adaptive neural
- optimal control
- dynamic environments
- fuzzy pid controller
- feedback control
- adaptive control
- fuzzy control
- vision system