Robust motion control for nonholonomic constrained mechanical systems: sliding mode approach.
Zuozhi SongDongbin ZhaoJianqiang YiXinchun LiPublished in: ACC (2005)
Keyphrases
- sliding mode
- motion control
- mechanical systems
- kinematic model
- mobile robot
- control law
- motion planning
- control system
- control strategy
- stability analysis
- variable structure
- sliding mode control
- control scheme
- robot manipulators
- control algorithm
- autonomous robots
- visual servoing
- closed loop
- path planning
- real time
- robot control
- manufacturing process
- gait analysis
- control theory
- humanoid robot
- neural network