Abstract:The purpose of this paper is to design a control system for a mobile four-wheeled robot, whose task is to achieve stability and proper operation in the execution of commands. As a result of the nonlinear dynamics, structural and parametric uncertainty of this robot, various control approaches are used in order to achieve stability, proper performance, minimize modeling errors and uncertainties, etc. By adjusting linear and angular velocities in the presence of external disturbances and parametric uncertainty, … Show more
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