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Adaptive Motion Control of a Mobile Wheeled Robot Taking into Account the Nonideality of the Drives

  • ROBOTICS
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Journal of Computer and Systems Sciences International Aims and scope

Abstract

A method of mathematical modeling is used to study the controlled motion of a wheeled mobile robot in the presence of parametric uncertainties and uncontrolled errors in the formation of control torques applied to the wheels by drives. An adaptive control algorithm is proposed that allows the robot to accurately track the specified program motion in the presence of uncertainties.

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Authors and Affiliations

  1. Moscow Institute of Physics and Technology, 141701, Dolgoprudny, Moscow Oblast, Russia

    Muhammad Alhaddad

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  1. Muhammad Alhaddad
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Correspondence to Muhammad Alhaddad.

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Alhaddad, M. Adaptive Motion Control of a Mobile Wheeled Robot Taking into Account the Nonideality of the Drives. J. Comput. Syst. Sci. Int. 61, 868–883 (2022). https://doi.org/10.1134/S1064230722050033

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  • DOI: https://doi.org/10.1134/S1064230722050033

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