Hybrid fuzzy sliding-mode under-actuated control for trajectory tracking of mobile robot in the presence of friction and uncertainty.
Chih-Lyang HwangHsiu-Ming WuPublished in: FUZZ-IEEE (2012)
Keyphrases
- sliding mode
- trajectory tracking
- control law
- mobile robot
- control scheme
- visual servoing
- control strategy
- variable structure
- closed loop
- autonomous robots
- stability analysis
- control system
- motion planning
- sliding mode control
- control theory
- control algorithm
- robot manipulators
- adaptive control
- nonlinear systems
- iterative learning control
- control method
- dynamic model
- bi directional
- neural network controller
- path planning
- optimal control
- lyapunov function
- dynamical systems
- robot control
- robotic systems
- physical constraints
- experimental data
- dynamic programming