An Adaptive Backstepping-Based Controller for Trajectory Tracking of Wheeled Robots.
Song ChengHaoming LiuMeibao YaoPublished in: ICPS (2021)
Keyphrases
- trajectory tracking
- control law
- mobile robot
- autonomous robots
- closed loop
- physical constraints
- nonlinear systems
- visual servoing
- control system
- motion planning
- neural network controller
- control algorithm
- sliding mode
- inverted pendulum
- control strategy
- adaptive control
- adaptive fuzzy
- iterative learning control
- control theory
- control scheme
- multi robot
- feedback control
- path planning
- control method
- robot control
- desired trajectory
- bi directional
- optimal control
- lyapunov function
- dynamic model
- robotic systems
- variable structure
- stability analysis
- controller design
- pid controller
- humanoid robot
- iterative learning
- tracking error
- dynamical systems
- dynamic environments
- neural network
- control parameters
- degrees of freedom