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240118s2023 xx |||||o 00| ||eng c |
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|a 10.1007/s10846-023-01908-0
|2 doi
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|a Cui, Mingyue
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|0 (orcid)0000-0002-0356-4624
|4 aut
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|a Adaptive Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robot with Uncertainties
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|c 2023
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|a Text
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|a Computermedien
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|a © The Author(s), under exclusive licence to Springer Nature B.V. 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
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|a Abstract In this work, an adaptive control strategy is proposed for simultaneous tracking and stabilization of nonholonomic mobile robot with uncertainties. The tracking controller is consisted of two subcontrollers: position controller and direction angle controller. The hyperbolic tangent function is employed to design the position control law, and the adaptive laws of the uncertainties are obtained by Lyapunov direct method, so as to guarantee the global stability of the tracking controller. An adaptive sliding mode controller is designed for control of the direction angle, and the influence of direction angle error on the stability of the position tracking system is considered. By adjusting the control gain coefficients of the two control subsystems, the convergence speed of the direction angle control subsystem is far greater than that of the position control subsystem, so as to assure the asymptotic convergence of the whole robot control system. Furthermore, the stabilization problem is converted into an equivalent tracking problem through the selection of appropriate reference velocities. The asymptotic convergence of pose errors for mobile robot is proved by the Lyapunov stability theory. Simulations and experiments are carried out to verify that the designed control method can simultaneously handle the problems of trajectory tracking and stabilization of mobile robot.
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|a Tracking control
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|a Stabilization control
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|a Adaptive control
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|a Sliding mode control
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|a Mobile robots
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|a Liu, Hongzhao
|4 aut
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|a Wang, Xing
|4 aut
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|a Liu, Wei
|4 aut
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|i Enthalten in
|t Journal of intelligent and robotic systems
|d Springer Netherlands, 1988
|g 108(2023), 3 vom: Juli
|h Online-Ressource
|w (DE-627)271181133
|w (DE-600)1479543-7
|w (DE-576)110512855
|x 1573-0409
|7 nnns
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|g volume:108
|g year:2023
|g number:3
|g month:07
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|u https://dx.doi.org/10.1007/s10846-023-01908-0
|z lizenzpflichtig
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