@inproceedings{f75f5805679248f082b7e78902770758,
title = "A novel path following controller for an uncertain wheeled mobile robot",
abstract = "Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of the wheeled mobile robot being always positive or negative. Simulation results show the effectiveness of the proposed control scheme.",
keywords = "Adaptive, Backstepping, Parameter uncertainty, Path following, Wheeled mobile robot",
author = "Le Qi and Baoli Ma and Wei Li",
year = "2010",
doi = "10.1109/iCECE.2010.57",
language = "英语",
isbn = "9780769540313",
series = "Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010",
pages = "205--208",
booktitle = "Proceedings - International Conference on Electrical and Control Engineering, ICECE 2010",
note = "International Conference on Electrical and Control Engineering, ICECE 2010 ; Conference date: 26-06-2010 Through 28-06-2010",
}