Dynamic yaw and velocity control of the 6WD skid-steering mobile robot RobuROC6 using sliding mode technique.
Eric LucetChristophe GrandDamien SalléPhilippe BidaudPublished in: IROS (2009)
Keyphrases
- trajectory tracking control
- sliding mode
- mobile robot
- control scheme
- control strategy
- stability analysis
- variable structure
- sliding mode control
- dynamic environments
- robot manipulators
- sliding mode controller
- control law
- trajectory tracking
- autonomous robots
- robot control
- neural controller
- dynamic model
- sliding surface
- path planning
- adaptive fuzzy
- visual servoing
- control theory
- adaptive neural
- tracking error
- nonlinear systems
- adaptive control
- fuzzy controller
- control method
- support vector regression
- robotic systems
- parameter uncertainties
- experimental data
- control system