Adaptive control and data fusion using EKF for wheeled robots with parametric uncertainties
SMO'06 Proceedings of the 6th WSEAS International Conference on Simulation, Modelling and Optimization
Reinforcement Learning Control of a Real Mobile Robot Using Approximate Policy Iteration
ISNN 2009 Proceedings of the 6th International Symposium on Neural Networks: Advances in Neural Networks - Part III
IWANN '09 Proceedings of the 10th International Work-Conference on Artificial Neural Networks: Part II: Distributed Computing, Artificial Intelligence, Bioinformatics, Soft Computing, and Ambient Assisted Living
Robotics and Computer-Integrated Manufacturing
Modelling and control of a flying robot interacting with the environment
Automatica (Journal of IFAC)
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology
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This paper presents, in detail, the implementation of a new control strategy, Kalman-based active observer controller (AOB), for the path following of wheeled mobile robots (WMRs) subject to nonholonomic constraints. This control strategy presents some particularities as being used in discrete mode, and being robust against uncertainties and disturbances such as the ones due to the use of the input-output feedback-linearization method in discrete mode, while it was developed to be used in continuous mode. The performance of the proposed control algorithm is verified via computer simulation, and is compared with other control strategies, such as pole placement controller (PPC) and PPC with a Kalman filter observer (CKF).