طراحی کنترل‌کننده ردیاب مقاوم برای یک روبات متحرک غیرهولونومیک دارای لغزش جانبی با روش‌های بازطراحی لیاپانوفی و H∞ غیرخطی

[1]F. Pourboghrat and M. P. Karlsson, “Adaptive control of dynamic mobile robots with nonholonomic constraints,” Computers & Electrical Engineering, vol. 28, no. 4, pp. 241–253, 2002.

[2]K. D. Do, “Bounded controllers for global path tracking control of unicycle-type mobile robots,” Robotics and Autonomous Systems, vol. 61, no. 8, pp. 775–784, 2013.

[3]J.-M. Yang and J.-H. Kim, “Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots” IEEE Transactions on Robotics and Automation, vol. 15, no. 3, pp. 578–587, 1999.

[4]D. Chwa, J. H. Seo, P. Kim, and J.-Y. Choi, “Sliding mode tracking control of nonholonomic wheeled mobile robots,” in American Control Conference, vol. 5, pp. 3991–3996, 2002.

[5]D. Chwa, “Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates,” IEEE Transactions on Control Systems Technology, vol. 12, no. 4, pp. 637–644, 2004.

[6]Y. Miyasato, “Adaptive H∞ control of nonholonomic mobile robot based on inverse optimality,” in American Control Conference, pp. 3524–3529, 2008

[7]Y. Li, Z. Wang and L. Zhu, “Adaptive neural network PID sliding mode dynamic control of nonholonomic mobile robot,” IEEE International Conference on Information and Automation, pp. 753–757, 2010

[8]D. Wang and C. B. Low, “Modeling and analysis of skidding and slipping in wheeled mobile robots: control design perspective,” IEEE Transactions on Robotics, vol. 24, no. 3, pp. 676–687, 2008.

[9]B. Zhou, Y. Peng, and J. Han, “UKF based estimation and tracking control of nonholonomic mobile robots with slipping,” IEEE International Conference on Robotics and Biomimetics, pp. 2058–2063, 2007

[10]C. B. Low and D. Wang, “GPS-based tracking control for a car-like wheeled mobile robot with skidding and slipping,” IEEE A/SME Transactions On Mechatronics, vol. 13, no. 4, pp. 480–484, 2008.

[11]A. Tarakameh, K. Shojaei, and A. M. Shahri, “Adaptive control of nonholonomic wheeled mobile robot in presence of lateral slip and dynamic uncertainties,” Iranian Conference on Electrical Engineering, pp. 592–598, 2010.

[12]S. J. Yoo, “Adaptive neural tracking and obstacle avoidance of uncertain mobile robots with unknown skidding and slipping,” Information Sciences, vol. 238, pp. 176–189, 2013.

[13]J. Taheri-Kalani and M. J. Khosrowjerdi, “Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer,” International Journal of Adaptive Control and Signal Processing, vol. 28, no. 1, pp. 14–27, 2014.

[14]E.-J. Hwang, H.-S. Kang, C.-H. Hyun, and M. Park, “Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots,” International Journal of Advanced Robotic Systems, vol. 10, 2013.

[15]T.-Y. Wang and C.-C. Tsai, “Adaptive Robust Control of Nonholonomic Wheeled Mobile Robots,” in 16th IFAC World Congress, 2005.

[16]Y. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, “A stable tracking control method for an autonomous mobile robot,” IEEE International Conference on Robotics and Automation, 1990, pp. 384–389.

[17]Z.-P. JIANGdagger and H. Nijmeijer, “Tracking control of mobile robots: a case study in backstepping,” Automatica, vol. 33, no. 7, pp. 1393–1399, 1997.

[18]R. Fierro and F. L. Lewis, “Control of a nonholonomic mobile robot: backstepping kinematics into dynamics,” IEEE Conference on Decision and Control, 1995, vol. 4, pp. 3805–3810.

[19]J. J. Slotine and W. Li, Applied Nonlinear Control. vol. 199, no. 1. Englewood Cliffs, NJ: Prentice-Hall, 1991.

[20]H. Khalil, Nonlinear Systems. 3^rd edition, Upper Saddle River: Prentice hall, 2002.