A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf
.
ADAPTIVE ROBUST CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOTS
2005
IFAC Proceedings Volumes
This paper develops methodologies for an adaptive robust path tracking control of a nonholonomic Wheeled Mobile Robot (WMR) with nonlinear driving characteristics and unknown dynamic parameters. To solve the problem of position/orientation tracking control of WMR, a novel robust kinematics control law is developed to steer the vehicle to asymptotically follow the desired trajectories. To compensate for dynamic effects associated with the dynamic models, an adaptive backstepping path tracking
doi:10.3182/20050703-6-cz-1902.01349
fatcat:yan4dw5wtnbctpbx4hvhkevhtq