DocumentCode
3085005
Title
Output tracking control of mobile robots based on adaptive backstepping and high order sliding modes
Author
Li, C.K. ; Chao, Hongmin ; Hu, Y.M. ; Bad, A.B.
Author_Institution
Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., China
Volume
4
fYear
2002
fDate
6-9 Oct. 2002
Abstract
This paper presents the design of a controller based on adaptive backstepping and high order sliding modes for output tracking of mobile robots. The proposed controller can greatly reduce chattering of sliding modes of the system, and it has certain robustness with respect to the external random disturbances and good adaptability with respect to the parametric uncertainty.
Keywords
adaptive control; control system synthesis; mobile robots; robust control; tracking; variable structure systems; adaptive backstepping; chattering; controller design; high order sliding modes; mobile robots; output tracking control; parametric uncertainty; random disturbance; robustness; Adaptive control; Automatic control; Backstepping; Control systems; Mobile robots; Programmable control; Robot control; Robust control; Sliding mode control; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2002 IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-7437-1
Type
conf
DOI
10.1109/ICSMC.2002.1173255
Filename
1173255
Link To Document