Title :
Output tracking of uncertain robot systems via high order sliding mode technique
Author :
Li, C.K. ; Chao, H.M.
Author_Institution :
Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., Kowloon, China
fDate :
5/9/2002 12:00:00 AM
Abstract :
An uncertain dynamic model of a mobile robot was established that considered motor dynamics and parameter variation. High order sliding mode controllers of different orders were designed for output tracking of the uncertain model. Simulation results are performed to show the effectiveness of the proposed controllers
Keywords :
mobile robots; tracking; uncertain systems; variable structure systems; high order sliding mode technique; mobile robot; motor dynamics; output tracking; parameter variation; simulation results; sliding mode controllers; uncertain dynamic model; uncertain robot systems;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:20020303
