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This paper investigates the position and curve stabilization problems of wheeled mobile robots with parameter uncertainties. Smooth state feedback control laws are derived by combining Lyapunov and back-stepping methods, guaranteeing asymptotic convergence of the robot to the given position or the desired geometric curve from an arbitrary initial state despite the uncertain parameters. Simulation...
In this study, one considers the tracking control problem of a class of nonsmooth fully actuated Lagrangian systems subject to frictionless unilateral constraints. The task under consideration contains both free-motion and constraint-motion phases. A switching controller that guarantees an approximate tracking is designed. Particular attention is paid to transition (impacting and detachment) between...
In this paper, we consider model reference Hinfin trajectory tracking control of nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy descriptor systems. The descriptor system describes a wider class of systems and the standard state-space systems representation is a special case of descriptor systems. The dynamics of the given nonlinear system are represented by a fuzzy descriptor system and...
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