Abstract:In this paper, a control system for a mobile four-wheeled robot is designed, whose task is to create stability and achieve proper performance in the execution of commands. Due to the nonlinear and time-varying dynamics, structural and parametric uncertainties of this robot, various control approaches are used in order to achieve stability, proper performance and minimize the effect of uncertainties and modeling errors, etc. The purpose of the control here is to follow a predetermined trajectory by adjusting li… Show more
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