Trajectory tracking of a self-balancing two-wheeled robot using backstepping sliding-mode control and fuzzy basis function networks.
Ching-Chih TsaiShang-Yu JuShih-Min HsiehPublished in: IROS (2010)
Keyphrases
- trajectory tracking
- sliding mode
- sliding mode control
- basis functions
- control strategy
- adaptive fuzzy
- nonlinear systems
- control law
- robot manipulators
- adaptive neural
- inverted pendulum
- control algorithm
- linear combination
- nonlinear functions
- control system
- radial basis function
- mobile robot
- variable structure
- closed loop
- control scheme
- control method
- stability analysis
- neural network controller
- adaptive control
- optimal control
- feedback control
- state space
- neural network
- fuzzy controller
- support vector regression
- mathematical model
- control theory
- fuzzy neural network
- fuzzy control
- real time
- chaotic systems
- fuzzy systems
- simulation study
- reinforcement learning