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This paper develops an adaptive dynamic motion controller for position control and trajectory tracking of the omnidirectional mobile robot equipped with four independent omnidirectional wheels equally spaced at 90 degrees from one to another. Such a controller is synthesized by backstepping and will be is proven globally asymptotically stable via the Lyapunov stability theory. The controller is particularly...
This paper proposes a radial basis function neural network adaptive backstepping controller (RBFNN_ABC) for multiple-input multiple-output (MIMO) nonlinear systems in block-triangular form. The control scheme incorporates the adaptive neural backstepping design technique with a first-order filter at each step of the backstepping design to avoid the higher-order derivative problem, which is generated...
This paper describes a vehicle stability control (VSC) system using a yaw inertia and mass independent adaptive control law. As a primary vehicle active control system, VSC can significantly improve vehicle driving safety for passenger cars and enhance trajectory tracking accuracy for other applications such as autonomous, surveillance, and wheeled mobile robot vehicles. For the designs of vehicle...
Uncertain nonlinear systems with unknown parameters are considered in this paper. A robust adaptive tracker via state feedback control is designed for tracking given reference signal. The adaptive tracker design is constructive and it is of robustness to the uncertainties of both the unknown parameters and the systematic states. The global stability of the resulted closed-loop system is proved and...
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