Nonholonomic wheeled mobile robot positioning controller using decoupling and variable structure model reference adaptive control.
Aldayr D. AraújoPablo J. AlsinaSamaherni M. DiasPublished in: ACC (2006)
Keyphrases
- variable structure
- adaptive control
- control law
- sliding mode
- feedback control
- control system
- adaptive controller
- autonomous control
- control theory
- control strategy
- control algorithm
- control method
- nonlinear systems
- wheeled mobile robot
- closed loop
- fuzzy control
- mathematical model
- real time
- input output
- computational intelligence
- neural controller
- reinforcement learning
- control parameters
- linear model
- motion planning
- chaotic systems
- robot manipulators
- least squares
- machine learning