• DocumentCode
    748093
  • 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
  • Volume
    38
  • Issue
    10
  • fYear
    2002
  • fDate
    5/9/2002 12:00:00 AM
  • Firstpage
    487
  • Lastpage
    489
  • 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;
  • fLanguage
    English
  • Journal_Title
    Electronics Letters
  • Publisher
    iet
  • ISSN
    0013-5194
  • Type

    jour

  • DOI
    10.1049/el:20020303
  • Filename
    1003028
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=748093