Dynamic tracking control of nonholonomic mobile robot with model reference adaptation for uncertain parameters

  title={Dynamic tracking control of nonholonomic mobile robot with model reference adaptation for uncertain parameters},
  author={Ali Gholipour and Mohammad Javad Yazdanpanah},
  journal={2003 European Control Conference (ECC)},
Dynamic control of parallel wheeled differential drive mobile robot is considered. The dynamic model is composed of two consecutive parts; kinematic model and equations of linear and angular torques. By transforming dynamic error equations of kinematic model to mobile coordinates, the tracking problem changes to stabilization. controller is designed in two consecutive parts: in the first part kinematic stabilization is done using nonlinear control laws, in the second one, acceleration rate… CONTINUE READING


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