Nonlinear trajectory tracking controller for wheeled mobile robots by using a flexible auxiliary law based on slipping and skidding variations.
Cesar A. Pena FernandezJés Jesus Fiais CerqueiraAntonio Marcus N. LimaPublished in: Robotics Auton. Syst. (2019)
Keyphrases
- trajectory tracking
- wheeled mobile robots
- neural network controller
- closed loop
- bi directional
- control system
- dynamic model
- control law
- iterative learning
- sliding mode
- physical constraints
- control method
- variable structure
- visual servoing
- stability analysis
- feedback control
- adaptive control
- control scheme
- control algorithm
- nonlinear systems
- neural network structure
- control strategy
- control theory
- pid controller
- real time
- dynamic programming