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An autonomous mobile robot navigation system based on stereovision perception is developed. The surroundings are recognized by constructing local 3D maps from binocular images. Minimizing the artificial potential energy of the mobile robot on a local 3D map plans a relay position and an approaching path. A self-learning controller using adaptive fuzzy systems is designed to manipulate the dynamic...
Since disturbances and uncertainties have effects only on the dynamical model, the dynamical and kinematical controllers are separately designed. That is, a two-loop control is designed for implementing different suitable algorithms. Two kinematical controllers can be individually integrated with robust dynamic controllers by using adaptive fuzzy elimination scheme for uncertainties. For the proposed...
In this paper, robust control strategies are presented systematically for both holonomic mechanical systems and a large class of nonholonomic mechanical systems in the presence of uncertainties and disturbances. First, robust control strategies are presented for both kinds of systems using the bounds of system parameters, respectively. Then, adaptive robust control strategies are presented by tuning...
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