Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach

Volume: 6, Issue: 2, Pages: 216 - 228
Published: Jan 19, 2012
Abstract
This study addresses the trajectory tracking control problem of electrically driven wheeled mobile robots under non-holonomic constraints in the presence of model uncertainties without velocity measurement. By defining a suitable set of output equations, a new input–output model of wheeled mobile robots is developed, which helps the designer utilise the classic control algorithms of robot manipulators. An observer-based trajectory tracking...
Paper Details
Title
Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach
Published Date
Jan 19, 2012
Volume
6
Issue
2
Pages
216 - 228
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