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• W2023218087 abstract "Unlike most works based on pure nonholonomic constraint, this paper proposes a fuzzy adaptive tracking control method for wheeled mobile robots, where unknown slippage occurs and violates the nonholononomic constraint in the form of state-dependent kinematic and dynamic disturbances. These disturbances degrade tracking performance significantly and, therefore, should be compensated. To this end, the kinematics with state-dependent disturbances are rigorously derived based on the general form of slippage in the mobile robots, and fuzzy adaptive observers together with parameter adaptation laws are designed to estimate the state-dependent disturbances in both kinematics and dynamics. Because of the modular structure of the proposed method, it can be easily combined with the previous controllers based on the model with the pure nonholonomic constraint, such that the combination of the fuzzy adaptive observers with the previously proposed backstepping-like feedback linearization controller can guarantee the trajectory tracking errors to be globally ultimately bounded, even when the nonholonomic constraint is violated, and their ultimate bounds can be adjusted appropriately for various types of trajectories in the presence of large initial tracking errors and disturbances. Both the stability analysis and simulation results are provided to validate the proposed controller." @default.
• W2023218087 created "2016-06-24" @default.
• W2023218087 creator A5047247891 @default.
• W2023218087 date "2012-06-01" @default.
• W2023218087 modified "2023-09-29" @default.
• W2023218087 title "Fuzzy Adaptive Tracking Control of Wheeled Mobile Robots With State-Dependent Kinematic and Dynamic Disturbances" @default.
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• W2023218087 doi "https://doi.org/10.1109/tfuzz.2011.2176738" @default.
• W2023218087 hasPublicationYear "2012" @default.
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