Abstract Autonomous Vehicles (AVs) have shown indelible and revolutionary effects on
accident reduction and more efficient use of travel time, with outstanding socio‐economic …

In this paper, a generalized nontriangular normal form is presented to facilitate designing a
recursive integral backstep** control for the class of underactuated nonholonomic …

In order to ensure trajectory tracking on a two degrees-of-freedom self-balancing robot
(SBR) a control scheme, based on the combination of adaptive neural networks and input …

In this document, an underactuated two degrees–of–freedom control moment gyroscope
(CMG) is studied. Specifically, the problem of trajectory tracking in the non-actuated joint is …

This paper presents the application of different approaches of intelligent controllers based
on LAMDA (Learning Algorithm for Multivariate Data Analysis) to perform the trajectory …

The trajectory tracking control problem for wheeled mobile robot (WMR) subject to
generalized torque constraints is studied in this paper. First, a more general model is …

The problem of joint position regulation of a self-balancing robot moving on a slope via a
PID passivity-based controller is addressed in the present paper. It is assumed that the …

Input saturation appears in a physical system when a large power dissipation is requested.
In this situation, and specifically for unicycle-type wheeled mobile robots, actuators only can …

This chapter explores two basic techniques to design a controller to guide differential drive
wheeled robots and quadrotors, namely the single-loop dynamic control system and the …

This article formulates the control problem of underactuated mobile robot as servo constraint-
following, and develops a novel constraint-following servo control approach for …