Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer
This paper presents a robust backstepping control (BC) methodbased on nonlinear disturbance observer (NDOB) for trajectory tracking of the nonholonomic wheeled mobile robot (WMR) in the presence of external disturbances and parameters uncertainties. At first, a bounded Fuzzy logic based backstepping...
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Institute of Advanced Engineering and Science
2016
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