Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
411401 | Neurocomputing | 2016 | 6 Pages |
Abstract
This paper proposes an adaptive controller for the trajectory tracking of a nonholonomic wheeled mobile robot with nonholonomic constraints in the presence of external disturbances and unknown parameters. A new scheme is proposed to design an adaptive virtual velocity controller and torque control law. Meanwhile, a disturbance observer is applied to estimate the lumped disturbance to achieve the feedforward compensation. Simulation results demonstrate the effectiveness of the proposed control scheme.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Dawei Huang, Junyong Zhai, Weiqing Ai, Shumin Fei,