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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...
Wheeled mobile robots are considered as the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers, and energy saving characteristics. Two new algorithms for tracking control of these robots are presented in this paper: an adaptive controller and a nonlinear controller. Here, the two algorithms are compared with regarding noise resistance and disturbance...
This paper proposes a novel discrete trajectory tracking controller for a class of nonholonomic vehicles. Using existing velocity control laws based on the kinematic model and backstepping technology, the proposed discrete controller can accommodate not only traditionally continuous trajectories but also trajectories involving discontinuity points, while retaining the stability proved by Lyapunov...
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