A PD path-tracking controller plus inner velocity loops for a wheeled mobile robot.
Víctor M. Hernández GuzmánRamón Silva-OrtigozaCelso Márquez-SánchezPublished in: Adv. Robotics (2015)
Keyphrases
- wheeled mobile robot
- control algorithm
- reference trajectory
- control system
- neural network controller
- tracking error
- control law
- closed loop
- control method
- real time
- desired trajectory
- adaptive fuzzy
- control scheme
- particle filter
- phase contrast
- motion model
- lyapunov function
- controller design
- shortest path
- optical flow
- visual tracking
- appearance model
- fuzzy controller
- fuzzy logic
- inverted pendulum
- artificial neural networks
- adaptive control
- theoretical analysis
- initial conditions
- optimal control
- control strategy
- input output
- kalman filter