DocumentCode
389635
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. ; Rad, A.B.
Author_Institution
Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., China
Volume
5
fYear
2002
fDate
6-9 Oct. 2002
Abstract
This paper presented 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 external random disturbances and good adaptability with respect to parametric uncertainty.
Keywords
adaptive control; mobile robots; tracking; uncertainty handling; variable structure systems; adaptability; adaptive backstepping; controller; external random disturbances; high order sliding modes; mobile robots; output tracking control; parametric uncertainty; robustness; Adaptive control; Automatic control; Backstepping; Control systems; Design engineering; Mobile robots; Programmable control; Robot control; Robust control; Sliding mode control;
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.2002.1176422
Filename
1176422
Link To Document