A cascade controller for tracking and stabilization of wheeled mobile robotic systems

Abstract

A wheeled mobile robotic system (WMR) is a kind modular robotic, nonlinear and the system subjected to nonholonomic constraints. It is impossible to obtain an exact dynamics model due to unknown parameters, unpredictable and irregular features, external disturbance. This paper proposes an adaptive robust controller to guide WMR to follow the desired… (More)

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