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This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.
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...
Aiming at the nonlinear and time-varying characteristics of freeway traffic system, a fuzzy self-adaptive PID controller is designed and applied to freeway ramp metering in this paper. A traffic flow model to describe the freeway flow process is firstly built. Based on the model and in conjunction with nonlinear feedback theory, a fuzzy-PID ramp controller is then designed. The ramp metering rate...
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