Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer
نویسندگان
چکیده
منابع مشابه
Generalized Extended State Observer Approach to Robust Tracking Control for Wheeled Mobile Robot with Skidding and Slipping
This paper proposes a robust tracking controller based on a Generalized Extended State Observer (GESO) method for a wheeled mobile robot (WMR) with unknown skidding and slipping. Skidding and slipping of a WMR are inevitable in practice. We regard skidding and slipping as disturbances and modify the dynamics model to consider them simply. Then, we adopt the GESO to design...
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in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
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ژورنال
عنوان ژورنال: Energies
سال: 2019
ISSN: 1996-1073
DOI: 10.3390/en12173305