Adaptive Sliding Mode Control Based on a Filter for Four-Wheel Omni-Directional Mobile Robots
نویسندگان
چکیده
منابع مشابه
Adaptive Sliding Mode Control Based on a Filter for Four-Wheel Omni-Directional Mobile Robots
Since there are usually parameter uncertainties and influence of the exogenous disturbances on the dynamic model of a four-wheel omni-directional mobile robot (FOMR), the traditional strategy for motion control has not good performance. A sliding mode control based on an adaptive approach and a filter (AFSMC) is presented in this paper. First, according to identifying the reaching gain by a Rad...
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Article history: Received: 24.01.2014. Received in revised form: 05.03.2014. Accepted: 10.03.2014. There is usually the speed jump problem existing in conventional back-stepping tracking control for four-wheel drive omni-directional mobile robots, a trajectory tracking controller based on adaptive neural dynamics model is proposed. Because of the smoothness and boundedness of the output from th...
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Aiming at the problem that the traditional control methods can’t satisfactorily complete the trajectory tracking task, so a multi point preview control method based on automobile driving is designed for the motion control of four-wheel drive omni-directional mobile robot. Lateral position error and curvature of each preview point are calculated based on the robot’s lateral position error model....
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ژورنال
عنوان ژورنال: Cybernetics and Information Technologies
سال: 2014
ISSN: 1314-4081
DOI: 10.2478/cait-2014-0026