Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping
Volume: 4, Issue: 10, Pages: 2109 - 2119
Published: Oct 1, 2010
Abstract
This study presents an adaptive tracking control approach for trajectory tracking of wheeled mobile robots with torque saturation in the presence of unknown skidding and slipping. The robot kinematics and dynamics are induced from the perturbed non-holonomic constraints. The adaptive control system using the kinematics transformed in polar coordinates is developed to compensate unknown skidding and slipping at the dynamic level of mobile robots...
Paper Details
Title
Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping
Published Date
Oct 1, 2010
Volume
4
Issue
10
Pages
2109 - 2119
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