1. Dual Adaptive Control for Trajectory Tracking of Mobile Robots
Marvin K. Bugeja and Simon G. Fabri Dept. of Electrical Power & Control Engineering, University of Malta, Malta
Robot
Trajectory
A novel dual adaptive dynamic controller for nonholonomic mobile robots is proposed
A Gaussian radial basis function neural network learns the robot dynamics in real-time
The controller is developed in discrete time and accounts for the estimates’ uncertainty
Highly improved tracking performance in the face of dynamic uncertainty and noise
Trajectory tracking in the face of dynamic uncertainty and noise via dual adaptive control