A Novel Terramechanics-Based Path-Tracking Control of Terrain-Based Wheeled Robot Vehicle With Matched-Mismatched Uncertainties.
Hamid TaghavifarSubhash RakhejaPublished in: IEEE Trans. Veh. Technol. (2020)
Keyphrases
- tracking control
- mobile robot
- nonlinear systems
- inverted pendulum
- legged robots
- outdoor environments
- rough terrain
- control law
- configuration space
- desired trajectory
- path planning
- ground vehicles
- autonomous robots
- closed loop
- motion planning
- tracking error
- adaptive neural
- trajectory tracking
- adaptive fuzzy
- multi robot
- fuzzy controller
- controller design
- humanoid robot
- fuzzy systems
- fuzzy model
- adaptive control
- fuzzy control
- control scheme
- real time
- control system
- learning rate
- rough sets
- lyapunov function
- control method
- control algorithm
- simulation study
- expert systems
- decision making