omni directional mobile platform


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FPGA implementation of an embedded robust adaptive controller for autonomous omni directional mobile platform

FREE DOWNLOAD [PDF] from nchu.edu.twHC Huang… – Industrial Electronics, IEEE Transactions …, 2009 –

Abstract—This paper presents an embedded adaptive robust controller for trajectory tracking
and stabilization of an omnidi- rectional mobile platform with parameter variations and
uncer- tainties caused by friction and slip. Based on a dynamic model of the platform, the 




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