On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots.
John ArvanitakisGeorge NikolakopoulosDemetris ZermasAnthony TzesPublished in: ETFA (2011)
Keyphrases
- mobile robot
- trajectory tracking
- visual servoing
- control law
- motion planning
- closed loop
- control system
- neural network controller
- iterative learning control
- adaptive control
- path planning
- autonomous robots
- bi directional
- physical constraints
- dynamic model
- iterative learning
- control method
- sliding mode
- robotic systems
- multi robot
- dynamic environments
- robot control
- feedback control
- reference trajectory
- control algorithm
- significant improvement
- nonlinear systems
- optimal control
- control theory
- inverted pendulum
- adaptive fuzzy
- lyapunov function
- adaptive neural
- tracking error
- experimental data
- semi supervised
- neural network
- real time