Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots

Mechatronics

Volumn 19, Issue 2, 2009, Pages 156-166

  Chen, Chih Yang ^a   Li, Tzuu Hseng S ^a   Yeh, Ying Chieh ^a   Chang, Cha Cheng ^a  

^a NATIONAL CHENG KUNG UNIVERSITY   (Taiwan)

Author keywords

Adaptive control; Dynamic control; Kinematic control; Lyapunov method; Sliding mode control; Trajectory tracking; Wheeled mobile robot

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; EQUATIONS OF MOTION; KINEMATICS; LYAPUNOV METHODS; MACHINE DESIGN; MOBILE ROBOTS; SLIDING MODE CONTROL;

ADAPTIVE CONTROL; DYNAMIC CONTROLS; KINEMATIC CONTROL; TRAJECTORY TRACKING; WHEELED MOBILE ROBOT;

CONTROLLERS;

EID: 58249145054     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2008.09.004     Document Type: Article

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