Adaptive position and trajectory control of autonomous mobile robot systems with random friction
Volume: 4, Issue: 12, Pages: 2733 - 2742
Published: Dec 1, 2010
Abstract
The authors present a robust adaptive control approach using model reference adaptive control (MRAC) for autonomous robot systems with random friction. First, a non-linear model of the robot system is approximated by feedback linearisation to derive a nominal control law. Next, a least square observer is constructed for the online estimation of friction dynamics. The authors derive a perturbed system model governing the friction estimation error...
Paper Details
Title
Adaptive position and trajectory control of autonomous mobile robot systems with random friction
Published Date
Dec 1, 2010
Volume
4
Issue
12
Pages
2733 - 2742
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