Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer

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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Bibliographic Details
Main Authors: Moqbel Obaid, Mahmood Ali, Husain, Abdul Rashid, Al-Kubati, Ali Abdo Mohammed
Format: Article
Published: Institute of Advanced Engineering and Science 2016
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/72704/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85012054619&doi=10.11591%2fijece.v6i2.9594&partnerID=40&md5=9d094cbd6c46a1b2b0eafb3245306649
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Institution: Universiti Teknologi Malaysia

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http://eprints.utm.my/id/eprint/72704/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85012054619&doi=10.11591%2fijece.v6i2.9594&partnerID=40&md5=9d094cbd6c46a1b2b0eafb3245306649

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