Journal article
Enhanced Bioinspired Backstepping Control for a Mobile Robot With Unscented Kalman Filter
Abstract
Tracking control has been an important research topic in robotics. It is critical to design controllers that make robotic systems with smooth velocity commands. In addition, the robustness of the robotic system in the presence of system and measurement noises is an important consideration as well. This paper presents a novel tracking control strategy that integrates a biologically inspired backstepping controller and a torque controller with …
Authors
Xu Z; Yang SX; Gadsden SA
Journal
IEEE Access, Vol. 8, , pp. 125899–125908
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 2020
DOI
10.1109/access.2020.3007881
ISSN
2169-3536