Adaptive output-feedback control for trajectory tracking of electrically driven non-holonomic mobile robots
Abstract
In this study, the authors propose an adaptive output-feedback controller for trajectory tracking of electrically driven non-holonomic mobile robots in the presence of parametric uncertainties. A new adaptive observer using the transformation matrices is developed to estimate the unmeasured velocities of the mobile robot. By using the transformation matrices, the designed adaptive observer can deal with quadratic velocity terms caused by the...
Paper Details
Title
Adaptive output-feedback control for trajectory tracking of electrically driven non-holonomic mobile robots
Published Date
Apr 14, 2011
Volume
5
Issue
6
Pages
830 - 838
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