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• W2112456688 abstract "A new adaptive controller is developed for wheeled mobile robots with parametric uncertainty in the dynamic model. The main theoretical contribution is the modular manner in which the control law and parameter update law are designed. This feature allows for design flexibility in the selection of the update law, and can be exploited to improve the transient response of the adaptive controller. The proposed controller also has the important feature of being applicable to both the tracking and regulation problems. The modularity of the adaptive controller is experimentally demonstrated on a K2A Cybermotion mobile robot that has been modified to allow for the implementation of torque-level control inputs. In particular, the adaptive controller with a gradient update law is evaluated vis-a/spl grave/-vis a least-squares update law." @default.
• W2112456688 created "2016-06-24" @default.
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• W2112456688 date "2004-01-01" @default.
• W2112456688 modified "2023-09-24" @default.
• W2112456688 title "Adaptive Tracking and Regulation of a Wheeled Mobile Robot With Controller/Update Law Modularity" @default.
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• W2112456688 doi "https://doi.org/10.1109/tcst.2003.819587" @default.
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