Trajectory-Tracking Control of a Nonholonomic Mobile Robot: backstepping Kinematics into Dynamics with uncertain disturbances.
Ming YueFeiyun TangBaoyin LiuBaozhen YaoPublished in: Appl. Artif. Intell. (2012)
Keyphrases
- trajectory tracking control
- parameter uncertainties
- control law
- closed loop
- mobile robot
- nonlinear systems
- control scheme
- control system
- control algorithm
- adaptive control
- guaranteed cost
- control theory
- control strategy
- dynamical systems
- optimal control
- motion planning
- sliding mode
- feedback control
- visual servoing
- autonomous robots
- stability analysis
- linear matrix inequality
- tracking error
- neural network
- real time
- trajectory tracking
- external disturbances
- path planning
- dynamic environments
- controller design
- networked control systems
- fuzzy logic