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
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;
Conference_Titel :
Systems, Man and Cybernetics, 2002 IEEE International Conference on
Print_ISBN :
0-7803-7437-1
DOI :
10.1109/ICSMC.2002.1173255
