Robust output feedback control for the trajectory tracking of robotic wheelchairs
Abstract
SUMMARY This paper addresses the trajectory tracking control problem of robotic wheelchairs in the presence of modeling uncertainties. The controller has been designed using position and angular measurements. A global ultra-model, or simplified model achieved from flatness considerations is proposed first. This model highly reduces the design complexity of the state estimation and the output feedback control tasks since it groups, as an unknown...
Paper Details
Title
Robust output feedback control for the trajectory tracking of robotic wheelchairs
Published Date
Jan 29, 2014
Journal
Volume
33
Issue
1
Pages
41 - 59
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