Backstepping trajectory tracking control for a spherical rolling robot.
Yang BaiMikhail M. SvininMotoji YamamotoPublished in: IROS (2016)
Keyphrases
- mobile robot
- trajectory tracking control
- sliding mode
- control law
- control strategy
- control scheme
- nonlinear systems
- trajectory tracking
- autonomous robots
- vision system
- multi robot
- closed loop
- robot manipulators
- visual servoing
- sliding mode control
- control system
- position and orientation
- humanoid robot
- mathematical model
- robot control
- path planning
- fuzzy control
- fuzzy controller
- dynamic model
- variable structure
- pid controller
- control method
- experimental data
- artificial neural networks