Adaptive control of electrically‐driven nonholonomic wheeled mobile robots: Taylor series‐based approach with guaranteed asymptotic stability

DOI10.1002/ACS.3104zbMath1467.93174OpenAlexW3007435099MaRDI QIDQ5000702

Mohammad Mehdi Fateh, Amirreza Haqshenas M., Seyed Mohammad Ahmadi

Publication date: 15 July 2021

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/acs.3104

zbMATH Keywords

wheeled mobile robotasymptotic stabilityadaptive Taylor seriessimscape multibodytwo-loop control

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Nonholonomic systems related to the dynamics of a system of particles (70F25) Series expansions (e.g., Taylor, Lidstone series, but not Fourier series) (41A58)

Related Items (1)

Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments

Uses Software

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• SimMechanics
• Simscape
• Simscape Multibody

Cites Work

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