Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty

IEEE Transactions on Control Systems Technology

Volumn 17, Issue 1, 2009, Pages 207-214

  Park, Bong Seok ^a   Yoo, Sung Jin ^a   Park, Jin Bae ^a   Choi, Yoon Ho ^b  

^a Yonsei University   (South Korea)

^b Kyonggi University   (South Korea)

Author keywords

Adaptive sliding mode control (ASMC); Mobile robots; Model uncertainty; Polar coordinates; Self recurrent wavelet neural networks (SRWNNs)

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; CONTROL SYSTEMS; KINEMATICS; MOBILE ROBOTS; NEURAL NETWORKS; RECURRENT NEURAL NETWORKS; ROBOTICS; ROBOTS; ROBUST CONTROL; SLIDING MODE CONTROL; UNCERTAINTY ANALYSIS; WIRELESS NETWORKS;

ADAPTIVE SLIDING MODE CONTROL (ASMC); ARBITRARY MODELS; EXTERNAL DISTURBANCES; KINEMATIC MODELS; LOOP SYSTEMS; LYAPUNOV STABILITY THEORIES; MODEL UNCERTAINTY; NEURAL SLIDING MODE CONTROLS; NON-HOLONOMIC; ONLINE TUNING ALGORITHMS; POLAR COORDINATES; SELF RECURRENT WAVELET NEURAL NETWORKS (SRWNNS); TRAJECTORY TRACKING; UNIFORMLY ULTIMATELY BOUNDED; WHEELED MOBILE ROBOTS;

CONTROL THEORY;

EID: 58249091429     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2008.922584     Document Type: Article

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