ATLAS Robot:A Teaching Tool for Autonomous Agricultural Mobile Robotics

Bautista, Anthony James; Wane, Samuel Oliver

doi:10.1109/iccais.2018.8570494

Cited by 8 publications

(1 citation statement)

References 5 publications

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“…The robotics field is one of the most significant contributors to this revolution [2]. In fact, robotic technologies have already been utilized to improve industrial production by means of integrating new systems to replicate human activities in dangerous work settings [3]. Nowadays, robotics can be used in many fields and for many purposes, such as in military [4], in the medical industry [5,6], and in dangerous manufacturing processes to eliminate human intervention [7].…”

Section: Introductionmentioning

confidence: 99%

Novel adaptive backstepping control for uncertain manipulator robots using state and output feedback

Brahmi

Saad

El-Bayeh³

et al. 2021

Robotica

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In this paper, a new adaptive control strategy, based on the Modified Function Approximation Technique, is proposed for a manipulator robot with unknown dynamics. This novel strategy benefits from the backstepping control approach and the use of state and output feedback. Unlike the conventional Function Approximation Technique approach, the use of basis functions to approximate the dynamic parameters is completely eliminated in the proposed scheme. Another improvement is eliminating the need to measure velocity by means of integrating a high-order sliding mode observer. Furthermore, utilizing the Lyapunov function theory, it is demonstrated that all controller signals are uniformly ultimately bounded in the closed-loop form. Lastly, simulation and comparative studies are carried out to validate the effectiveness of the proposed control approach.

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