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Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller.

Yifan LiuYixu WangXiaoqing GuanTao HuZiang ZhangSong JinYou WangJie HaoGuang Li
Published in: CoRR (2022)
Keyphrases
  • mobile robot
  • prediction model
  • path planning
  • sliding mode
  • real time
  • neural network
  • mathematical model
  • control system
  • experimental data
  • dynamical systems
  • variable structure
  • trajectory tracking control