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Trajectory Tracking Control Based On Improved Nonlinear Disturbance Observer For Mobile Robots Considering Unknown Skidding And Slipping of Wheels.
Xiaoying Wang
Xiaoheng Chang
Published in:
RICAI (2023)
Keyphrases
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mobile robot
trajectory tracking control
parameter uncertainties
external disturbances
control law
closed loop
path planning
sliding mode
motion planning
dynamic environments
stability analysis
control system
autonomous robots
variable structure
robotic systems
control scheme
visual servoing
dynamical systems