This paper presents the design and implementation of a novel adaptive trajectory tracking
controller for a nonholonomic wheeled mobile robot (WMR) with unknown parameters and …

A hybrid control algorithm is proposed based on a backstepping kinematic control and a PID
sliding mode dynamic control with an adaptive neural network adjust gain of sliding mode …

针对非完整移动机器人轨迹跟踪控制问题, 提出一种基于Backstepping 运动学控制器与双自
适应神经滑模鲁棒动力学控制的混合鲁棒控制算法. 利用两个带自适应调节算法的径向基神经 …

In this paper, a three wheeled mobile platform with a 3-DOF manipulator was designed and
its dynamic model has been constructed and a Sliding mode control (SMC) with the …

In this paper, a trajectory tracking control for a nonholonomic mobile robot subjected to
kinematic disturbances is proposed. A variable structure controller based on the sliding …

In this paper, we deal with nonholonomic wheeled mobile robots (WMR) modeled as
uncertain nonlinear systems. Sources of uncertainties can be due to erroneous estimation of …

A hybrid robust control algorithm is proposed based on a backstepping kinematic control
and a sliding mode hybrid dynamics control with dual adaptive neural network for trajectory …

Wheeled mobile robot (WMR) has gained wide application in civilian and military fields.
Smooth and stable motion of WMR is crucial not only for enhancing control accuracy and …

A discontinuous stabilizing control of Skid-Steering Mobile Robot (SSMR) is proposed using
σ transformation introduced in Astolfi (Syst. Control Lett. 27 (1), 37–45, 1996). A linear time …

In this paper, a trajectory tracking control for a nonholonomic wheeled mobile robot based
on the compensated inverse dynamics approach combined with sliding mode control …