Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach

The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presen...
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Autor*in:	Fangfang Dong [verfasserIn] Dong Jin [verfasserIn] Xiaomin Zhao [verfasserIn] Jiang Han [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2021

Schlagwörter:	Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty

Übergeordnetes Werk:	In: IEEE Access - IEEE, 2014, 9(2021), Seite 8877-8887
Übergeordnetes Werk:	volume:9 ; year:2021 ; pages:8877-8887

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1109/ACCESS.2021.3049913

Katalog-ID:	DOAJ048155284

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520			\|a The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control.
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allfields	10.1109/ACCESS.2021.3049913 doi (DE-627)DOAJ048155284 (DE-599)DOAJf6a6b2ac31a74468b10fbf133430bd1a DE-627 ger DE-627 rakwb eng TK1-9971 Fangfang Dong verfasserin aut Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control. Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty Electrical engineering. Electronics. Nuclear engineering Dong Jin verfasserin aut Xiaomin Zhao verfasserin aut Jiang Han verfasserin aut In IEEE Access IEEE, 2014 9(2021), Seite 8877-8887 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:9 year:2021 pages:8877-8887 https://doi.org/10.1109/ACCESS.2021.3049913 kostenfrei https://doaj.org/article/f6a6b2ac31a74468b10fbf133430bd1a kostenfrei https://ieeexplore.ieee.org/document/9316668/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 9 2021 8877-8887
spelling	10.1109/ACCESS.2021.3049913 doi (DE-627)DOAJ048155284 (DE-599)DOAJf6a6b2ac31a74468b10fbf133430bd1a DE-627 ger DE-627 rakwb eng TK1-9971 Fangfang Dong verfasserin aut Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control. Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty Electrical engineering. Electronics. Nuclear engineering Dong Jin verfasserin aut Xiaomin Zhao verfasserin aut Jiang Han verfasserin aut In IEEE Access IEEE, 2014 9(2021), Seite 8877-8887 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:9 year:2021 pages:8877-8887 https://doi.org/10.1109/ACCESS.2021.3049913 kostenfrei https://doaj.org/article/f6a6b2ac31a74468b10fbf133430bd1a kostenfrei https://ieeexplore.ieee.org/document/9316668/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 9 2021 8877-8887
allfields_unstemmed	10.1109/ACCESS.2021.3049913 doi (DE-627)DOAJ048155284 (DE-599)DOAJf6a6b2ac31a74468b10fbf133430bd1a DE-627 ger DE-627 rakwb eng TK1-9971 Fangfang Dong verfasserin aut Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control. Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty Electrical engineering. Electronics. Nuclear engineering Dong Jin verfasserin aut Xiaomin Zhao verfasserin aut Jiang Han verfasserin aut In IEEE Access IEEE, 2014 9(2021), Seite 8877-8887 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:9 year:2021 pages:8877-8887 https://doi.org/10.1109/ACCESS.2021.3049913 kostenfrei https://doaj.org/article/f6a6b2ac31a74468b10fbf133430bd1a kostenfrei https://ieeexplore.ieee.org/document/9316668/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 9 2021 8877-8887
allfieldsGer	10.1109/ACCESS.2021.3049913 doi (DE-627)DOAJ048155284 (DE-599)DOAJf6a6b2ac31a74468b10fbf133430bd1a DE-627 ger DE-627 rakwb eng TK1-9971 Fangfang Dong verfasserin aut Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control. Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty Electrical engineering. Electronics. Nuclear engineering Dong Jin verfasserin aut Xiaomin Zhao verfasserin aut Jiang Han verfasserin aut In IEEE Access IEEE, 2014 9(2021), Seite 8877-8887 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:9 year:2021 pages:8877-8887 https://doi.org/10.1109/ACCESS.2021.3049913 kostenfrei https://doaj.org/article/f6a6b2ac31a74468b10fbf133430bd1a kostenfrei https://ieeexplore.ieee.org/document/9316668/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 9 2021 8877-8887
allfieldsSound	10.1109/ACCESS.2021.3049913 doi (DE-627)DOAJ048155284 (DE-599)DOAJf6a6b2ac31a74468b10fbf133430bd1a DE-627 ger DE-627 rakwb eng TK1-9971 Fangfang Dong verfasserin aut Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control. Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty Electrical engineering. Electronics. Nuclear engineering Dong Jin verfasserin aut Xiaomin Zhao verfasserin aut Jiang Han verfasserin aut In IEEE Access IEEE, 2014 9(2021), Seite 8877-8887 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:9 year:2021 pages:8877-8887 https://doi.org/10.1109/ACCESS.2021.3049913 kostenfrei https://doaj.org/article/f6a6b2ac31a74468b10fbf133430bd1a kostenfrei https://ieeexplore.ieee.org/document/9316668/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 9 2021 8877-8887
language	English
source	In IEEE Access 9(2021), Seite 8877-8887 volume:9 year:2021 pages:8877-8887
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topic_facet	Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty Electrical engineering. Electronics. Nuclear engineering
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authorswithroles_txt_mv	Fangfang Dong @@aut@@ Dong Jin @@aut@@ Xiaomin Zhao @@aut@@ Jiang Han @@aut@@
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callnumber-first	T - Technology
author	Fangfang Dong
spellingShingle	Fangfang Dong misc TK1-9971 misc Udwadia-Kalaba theory misc adaptive robust control misc constraint following misc uniformly bounded misc uncertainty misc Electrical engineering. Electronics. Nuclear engineering Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach
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topic_title	TK1-9971 Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach Udwadia-Kalaba theory adaptive robust control constraint following uniformly bounded uncertainty
topic	misc TK1-9971 misc Udwadia-Kalaba theory misc adaptive robust control misc constraint following misc uniformly bounded misc uncertainty misc Electrical engineering. Electronics. Nuclear engineering
topic_unstemmed	misc TK1-9971 misc Udwadia-Kalaba theory misc adaptive robust control misc constraint following misc uniformly bounded misc uncertainty misc Electrical engineering. Electronics. Nuclear engineering
topic_browse	misc TK1-9971 misc Udwadia-Kalaba theory misc adaptive robust control misc constraint following misc uniformly bounded misc uncertainty misc Electrical engineering. Electronics. Nuclear engineering
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title	Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach
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title_full	Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach
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title_sort	adaptive robust constraint following control for omnidirectional mobile robot: an indirect approach
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title_auth	Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach
abstract	The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control.
abstractGer	The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control.
abstract_unstemmed	The tracking performance of mobile robot is often affected by uncertainties from the deviation of initial conditions, external disturbances and varying loads, etc. An Udwadia-Kalaba based adaptive robust control is proposed for the trajectory tracking of an omnidirectional mobile robot in the presence of uncertainties. The proposed control includes nominal control part based on Udwadia-Kalaba theory and adaptive robust control part. The desired trajectory is considered as a virtual servo constraint applied to the robot system and converted into the second order standard form. So that the analytical form of constraint force could be obtained via Udwadia-Kalaba Fundamental Equation (UKFE). The system will precisely obey the given constraint (i.e., the desired trajectory) under the obtained constraint force in ideal cases. No auxiliary variables are required and it is effective whether the constraints are holonomic or nonholonomic. The designed adaptive law is in leakage type and the adaptive parameters are adjusted according to the performance of the system in order to compensate for the effect caused by uncertainty in the system. No extra information of uncertainty is needed except for the existence of uncertainty bound. Comparing with PID control, it can be found that the proposed control has better performance and can realize higher precision trajectory tracking control.
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title_short	Adaptive Robust Constraint Following Control for Omnidirectional Mobile Robot: An Indirect Approach
url	https://doi.org/10.1109/ACCESS.2021.3049913 https://doaj.org/article/f6a6b2ac31a74468b10fbf133430bd1a https://ieeexplore.ieee.org/document/9316668/ https://doaj.org/toc/2169-3536
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