Discrete-time sliding mode path-tracking control for a wheeled mobile robot.
Paola Andrea Niño-SuárezEduardo Aranda-BricaireMartín Velasco-VillaPublished in: CDC (2006)
Keyphrases
- tracking control
- sliding mode
- control law
- control algorithm
- nonlinear systems
- stability analysis
- variable structure
- closed loop
- control system
- sliding mode control
- control strategy
- adaptive neural
- adaptive control
- control theory
- adaptive fuzzy
- control scheme
- dynamical systems
- control method
- optimal control
- controller design
- lyapunov function
- tracking error
- neural network
- autonomous robots
- fuzzy controller
- motion planning
- degrees of freedom
- inverted pendulum
- artificial neural networks