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This paper proposes an adaptive nonlinear controller to stabilize an autonomous wheeled mobile robot. The controller equations are obtained following a backstepping approach. The robot model is divided into two parts: a state space model with intermediate control inputs and algebraic nonlinear equations relating the true and the intermediate control inputs. The robot parameters are assumed unknown...
This paper proposes an innovative approach for the design of a nonlinear controller to stabilize an autonomous mobile robot. The design approach combines a nonlinear control design method with a root-finding algorithm for nonlinear algebraic equations. For the design, the robot model is divided into two parts: a state space model with intermediate control inputs and algebraic nonlinear equations relating...
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