Control of Mobile Robot Considering Actuator Dynamics with Uncertainties in the Kinematic and Dynamic Models.
Nardenio Almeida MartinsDouglas BertolEdson R. de PieriEugênio B. CastelanPublished in: IWANN (2) (2009)
Keyphrases
- trajectory tracking control
- dynamic model
- control scheme
- mobile robot
- sliding mode
- neural controller
- robot manipulators
- controller design
- experimental data
- trajectory tracking
- robotic manipulator
- control law
- external disturbances
- parameter uncertainties
- dynamic environments
- indoor environments
- neural network controller
- sliding mode controller
- obstacle avoidance
- position control
- control system
- stability analysis
- autonomous robots
- pid controller
- tracking error
- reduced order model
- fuzzy controller
- closed loop
- wheeled mobile robots
- sliding mode control
- parameter estimates
- multiple models