Trajectory Tracking of a Nonholonomic Mobile Robot Considering the Actuator Dynamics: Design of a Neural Dynamic Controller Based on Sliding Mode Theory.
Nardenio Almeida MartinsDouglas BertolEdson R. de PieriPublished in: ICANN (2) (2009)
Keyphrases
- trajectory tracking control
- sliding mode
- trajectory tracking
- stability analysis
- variable structure
- sliding mode control
- control strategy
- neural controller
- control scheme
- control law
- sliding mode controller
- robot manipulators
- control theory
- neural network controller
- parameter uncertainties
- dynamic model
- closed loop
- control system
- nonlinear systems
- mobile robot
- iterative learning control
- control algorithm
- adaptive control
- fuzzy control
- support vector regression
- adaptive fuzzy
- artificial neural networks
- control method