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What is Adaptive Control for Omni-Directional Robots about?

This document presents an adaptive sliding mode control strategy for four-wheel omni-directional mobile robots, addressing challenges posed by parameter uncertainties and external disturbances. The proposed method combines a filter with an adaptive approach to enhance control performance, demonstrated through numerical simulations. The results indicate improved tracking robustness and control precision compared to traditional methods.

Author

Thế Trần

Language

EN