The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
A hybrid control algorithm is proposed based on a backstepping kinematic control and a PID sliding mode dynamic control with an adaptive neural network adjust gain of sliding mode control for trajectory tracking control of nonholonomic mobile robot. Parameters and non-parameter uncertainties of mobile robot can be solved by using the robust control which takes advantages of stability and robustness...
In this paper, a new sliding-mode trajectory-tracking wheeled mobile robots (WMR) control is proposed. Dynamic model with uncertainties parameters (unknown or time varying mass and moment of inertia) of the WMR is taken into account. Robust stability depending on upper bound uncertainties, is guaranteed. A mobile platform, PatrolBot, with two driving wheels and two rear wheels is used in order to...
This paper focuses on the problem of robust takeoff and landing for a class of VTOL (Vertical Take-Off and Landing) aerial robots. One of the main challenge to be addressed derives from the fact that system dynamics may be remarkably different in case contacts with the landing surface happen or not. To this purpose an overall description of the system is obtained by considering the different behaviors...
A mobile manipulator service robot comprising a mobile platform with a three-link arm mounted on top of the platform is considered. A torque compensation control approach is proposed for the robust motion control of the robot. Considering the coupling disturbance between the platform and the manipulator, the nominal model of service robot is built, applying computed torque and proportion-differential...
This brief proposes an adaptive neural sliding mode control method for trajectory tracking of nonholonomic wheeled mobile robots with model uncertainties and external disturbances. The dynamic model with model uncertainties and the kinematic model represented by polar coordinates are considered to design a robust control system. Self recurrent wavelet neural networks (SRWNNs) are used for approximating...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.