An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints.
Naijian ChenFangzhen SongGuoping LiXuan SunChangsheng AiPublished in: Commun. Nonlinear Sci. Numer. Simul. (2013)
Keyphrases
- sliding mode
- control strategy
- control law
- variable structure
- sliding mode control
- nonlinear systems
- motion planning
- sliding mode controller
- stability analysis
- control method
- control system
- trajectory tracking
- control algorithm
- control scheme
- control theory
- adaptive fuzzy
- closed loop
- adaptive control
- robot manipulators
- optimal control
- sliding surface
- mathematical model
- adaptive neural
- fuzzy control
- degrees of freedom
- neural controller
- trajectory tracking control
- lyapunov function
- fuzzy neural network
- fuzzy controller
- dynamical systems
- dynamic model
- mobile robot
- controller design
- feedback control
- humanoid robot
- fuzzy logic
- parameter uncertainties
- neural network
- real time