Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—In this paper, a robust adaptive trajectory tracking controller is proposed for an electrical wheeled mobile robot in the presence of dynamic disturbances. This method, based on the nonlinear dynamic model of the robot and its actuators, guarantees the stability and the convergence of the closed-loop system. Moreover, the developed controller ensures the robustness of the system against the bounded dynamic disturbances, the smoothness of the computing voltage against the chattering phenomenon, and the optimal convergence of the velocity and posture errors. The Lyapunov theory is used to analyze the full stability of the control scheme. The simulation results further illustrate the effectiveness of the developed strategy.
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