Trajectory tracking with time-varying terrain conditions for an autonomous omnidirectional mobile robot using stratified variable structure saturated control.
Chih-Lyang HwangYunta LeeWei-Hsuan HungPublished in: Int. J. Syst. Sci. (2020)
Keyphrases
- sliding mode
- trajectory tracking
- mobile robot
- variable structure
- wheeled mobile robots
- control law
- visual servoing
- autonomous navigation
- adaptive control
- robotic systems
- control theory
- control strategy
- stability analysis
- sliding mode control
- motion planning
- autonomous robots
- robot manipulators
- fuzzy control
- control system
- dynamic environments
- closed loop
- path planning
- control scheme
- fuzzy systems
- robot control
- nonlinear systems
- dynamic model
- multi robot
- control method
- pid controller
- sufficient conditions
- bi directional
- iterative learning
- adaptive fuzzy
- optimal control
- differential equations
- control algorithm
- dynamical systems
- computational intelligence
- evolutionary algorithm