Curved Path Following Controller for 4W Skid-Steering Mobile Robots Using Backstepping.
Yang ChenNan LiWei ZengShiqian ZhangGuifang MaPublished in: IEEE Access (2022)
Keyphrases
- mobile robot
- obstacle avoidance
- control law
- control strategy
- motion control
- autonomous robots
- motion planning
- closed loop
- nonlinear systems
- lyapunov stability theory
- path planning
- control algorithm
- controller design
- control system
- adaptive fuzzy
- adaptive control
- lyapunov function
- fuzzy controller
- control theory
- control method
- variable structure
- control scheme
- visual servoing
- trajectory tracking
- dynamic environments
- autonomous navigation
- indoor environments
- inverted pendulum
- fuzzy logic controller
- unknown environments
- wheeled mobile robots
- optimal control
- neural network
- mobile robotics
- sliding mode
- mathematical model
- feedback control
- operating conditions
- robot navigation
- robotic systems
- pid controller
- sliding mode control
- perspective projection
- robot control
- control architecture
- control strategies
- multi robot
- degrees of freedom
- real robot
- semidefinite programming
- neural network controller
- learning algorithm