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Backstepping controller with force estimator applied for mobile robot DOI:10.15199/48.2019.10.03

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These days, a number of robot used for a simple repeat work such as an assembly, coating or welding as well for hazardous industrial fields have been coming to our homes. The last years have been increasingly rapid advances in the field of trajectory tracking of mobile robot, recent developments in this fields have heightened the need of the design a robust control. In order to design controllers for robots, researchers inevitably need models of how the robot actually behave, Many models have been developed for the mobile robot, one of the most common models out is the model of a differential drive mobile robot, it is used in various applications as nuclear power environments with high levels of radiation [1], surveillance [2][...]

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