Abstract
This paper proposes a robust adaptive sliding mode control for the trajectory tracking of a nonholonomic wheeled mobile manipulator in task space coordinate. The proposed algorithm is robust adaptive control strategy where parametric uncertainties and disturbances are compensated by adaptive update technique. The adaptive law is designed based on the Lyapunov method. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive based controller in comparison with a robust sliding mode based controller.
Highlights
The goniometer is an instrument used to measure angles mainly the range of motion (ROM) of joints
Current literature has shown that the smartphone-based inclinometer, Goniometer Pro, possesses good to excellent intra-rater and inter-rater reliability and concurrent validity for measurement of wrist ROM
We hypothesize that the Rate Fast Goniometer (RFG), an application very similar to Goniometer Pro, will be significantly more valid and reliable and will have more intra-rater reliability when compared to the universal goniometer (UG) for measuring shoulder internal rotation
Summary
The goniometer is an instrument used to measure angles mainly the range of motion (ROM) of joints. The goniometer tool has been reported to have poor inter-rater reliability [1]. Another tool, the inclinometer, is defined as a device for measuring angles among different body parts, for example, specific bones or joints. Current literature has shown that the smartphone-based inclinometer, Goniometer Pro, possesses good to excellent intra-rater and inter-rater reliability and concurrent validity for measurement of wrist ROM. Our study will assess a different application, the Rate Fast Goniometer (RFG), and its ability to reliably and accurately measure shoulder internal rotation through the raising of the arm by a movement at the shoulder. We hypothesize that the RFG, an application very similar to Goniometer Pro, will be significantly more valid and reliable and will have more intra-rater reliability when compared to the universal goniometer (UG) for measuring shoulder internal rotation
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