Trajectory Tracking Control of WMR Based on Sliding Mode Disturbance Observer with Unknown Skidding and Slipping.
Jinhua YeSuzhen YangXiao JinPublished in: CRC (2017)
Keyphrases
- sliding mode
- external disturbances
- sliding mode control
- lyapunov stability
- trajectory tracking control
- control law
- control algorithm
- control strategy
- stability analysis
- variable structure
- control scheme
- sliding mode controller
- adaptive fuzzy
- robot manipulators
- trajectory tracking
- control system
- closed loop
- nonlinear systems
- adaptive neural
- support vector regression
- dynamic model
- neural controller
- optimal control
- control theory
- adaptive control
- mathematical model
- fuzzy neural network
- motion planning
- fuzzy controller
- control method
- desired trajectory