Adaptive sliding mode trajectory tracking control of mobile robot with parameter uncertainties.
Kunpeng LiXuewen WangMingxin YuanXiaohu LiSunan WangPublished in: CIRA (2009)
Keyphrases
- trajectory tracking control
- sliding mode
- mobile robot
- parameter uncertainties
- control law
- closed loop
- sliding mode controller
- stability analysis
- variable structure
- control scheme
- sliding mode control
- adaptive control
- control strategy
- adaptive fuzzy
- robot manipulators
- control system
- nonlinear dynamics
- autonomous robots
- control algorithm
- dynamic model
- path planning
- control theory
- neural network
- tracking error
- feedback control
- linear matrix inequality
- visual servoing
- nonlinear systems
- pid controller
- motion planning
- neural controller
- robotic systems
- dynamic environments
- real time