On trajectory tracking control for nonholonomic mobile manipulators with dynamic uncertainties and external torque disturbances.
Mohamed BoukattayaMohamed JallouliTarak DamakPublished in: Robotics Auton. Syst. (2012)
Keyphrases
- trajectory tracking control
- control scheme
- control law
- parameter uncertainties
- closed loop
- sliding mode
- control system
- control strategy
- control algorithm
- dynamic model
- robot manipulators
- adaptive control
- induction motor
- pid controller
- fuzzy controller
- neural model
- variable structure
- controller design
- neural network controller
- control theory
- neural controller
- nonlinear systems
- feedback control
- control method
- tracking error
- visual servoing
- path planning
- linear programming
- fuzzy logic