A series of uncertain wheeled mobile robots about trajectory tracking control is studied in this paper. Adaptive schemes are developed to estimate the effect of robot uncertainties. Then, the state feedback control strategy is constructed on the basis of adaptive estimation by adopting adaptive control scheme. According to Lyapunov stability theory, it verifies the position of wheeled mobile robot can track the given path under the condition of uncertain motion. It shows the effectiveness of the proposed design through the mobile robot system.


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    Title :

    Adaptive Robust Path Tracking of Uncertain WMR


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Yu, Ji-Zhou (author) / Jin, Xiao-Zheng (author)


    Publication date :

    2021-10-30


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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