Trajectory tracking control of omnidirecitonal wheeled mobile manipulators: Robust neural network based sliding mode approach.
Dong XuDongbin ZhaoJianqiang YiXiang-min TanZonghai ChenPublished in: ICRA (2008)
Keyphrases
- sliding mode
- trajectory tracking control
- mobile robot
- control law
- variable structure
- stability analysis
- path planning
- adaptive control
- control strategy
- closed loop
- parameter uncertainties
- sliding mode controller
- robot manipulators
- robotic systems
- sliding mode control
- control scheme
- control algorithm
- neural network
- control system
- trajectory tracking
- control theory
- dynamic model
- nonlinear systems
- motion planning
- optimal control
- real time
- dynamic environments
- degrees of freedom
- multi robot
- autonomous robots
- dynamical systems
- input output
- neural controller