Design, implementation, and experimental validation of a cascaded trajectory tracking controller for nonholonomic car-like wheeled mobile robots with velocity and steering controllers in the loops.
Chang Boon LowPublished in: CCTA (2017)
Keyphrases
- trajectory tracking
- wheeled mobile robots
- control law
- sliding mode
- closed loop
- control system
- bi directional
- dynamic model
- neural network controller
- iterative learning
- physical constraints
- iterative learning control
- variable structure
- nonlinear systems
- stability analysis
- control scheme
- control algorithm
- control method
- control strategy
- visual servoing
- controller design
- feedback control
- adaptive control
- tracking error
- robot manipulators
- motion planning
- control theory
- path planning
- dynamical systems
- mobile robot
- desired trajectory
- real time
- intelligent control
- mathematical model
- pid controller
- optimal control
- fuzzy logic
- experimental data