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This paper addresses the trajectory tracking control problem of a nonholonomic wheeled mobile robot in presence of modeling uncertainties. A trajectory tracking controller is proposed by combination of an adaptive feedback linearizing controller and an adaptive robust PID control law. A SPR-Lypunov stability analysis demonstrates that tracking errors and parameters estimation errors are globally uniformly...
This paper presents an adaptive trajectory tracking controller for a nonholonomic wheeled mobile robot in presence of parametric uncertainty in both kinematic and dynamic models. The adaptive nonlinear control law is designed based on input-output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance...
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