Adaptive backstepping control approach for the trajectory tracking of mobile manipulators.
Bhavik PatelYa-Jun PanUsman AhmadPublished in: ROBIO (2017)
Keyphrases
- control law
- trajectory tracking
- adaptive control
- closed loop
- control system
- control theory
- nonlinear systems
- control strategy
- control method
- sliding mode
- control algorithm
- visual servoing
- optimal control
- control scheme
- feedback control
- tracking error
- wheeled mobile robots
- iterative learning control
- neural network controller
- stability analysis
- dynamical systems
- lyapunov function
- variable structure
- motion planning
- bi directional
- autonomous robots
- adaptive neural
- robot manipulators
- pid controller
- control parameters
- fuzzy logic
- physical constraints
- iterative learning
- dynamic model
- desired trajectory
- mobile robot