Roll angle dynamic control of unicycle robot using backstepping controller and sliding mode controller.
Boutaina ElkinanyMohammed AlfidiZakaria ChalhPublished in: Int. J. Model. Identif. Control. (2020)
Keyphrases
- sliding mode
- sliding mode controller
- control strategy
- sliding mode control
- control law
- reference trajectory
- trajectory tracking
- robot manipulators
- control method
- closed loop
- control scheme
- variable structure
- control system
- nonlinear systems
- neural network controller
- control algorithm
- neural controller
- sliding surface
- visual servoing
- robot control
- adaptive neural
- control theory
- adaptive control
- adaptive fuzzy
- operating conditions
- fuzzy controller
- pid controller
- mobile robot
- stability analysis
- optimal control
- autonomous robots
- controller design
- motion planning
- feedback control
- lyapunov stability
- external disturbances
- fuzzy control
- robotic systems
- mathematical model
- inverted pendulum
- dynamic response
- neuro fuzzy
- tracking error
- dynamic model
- dynamic environments
- initial conditions
- neural network
- legged robots
- path planning
- input output
- control parameters