Cascade sliding control for trajectory tracking of a nonholonomic mobile robot with adaptive neural compensator

DOI10.1155/2017/8501098zbMath1426.93201OpenAlexW2755376026MaRDI QIDQ1993222

Carlos Soria, Francisco Guido Rossomando, Flavio Capraro, Gustavo J. E. Scaglia

Publication date: 5 November 2018

Published in: Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2017/8501098

zbMATH Keywords

nonholonomic mobile robotadaptive neural compensatorcascade sliding control

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13) Variable structure systems (93B12) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Integral sliding mode control for trajectory tracking of wheeled mobile robot in presence of uncertainties
• Wheeled mobile robot RBFNN dynamic surface control based on disturbance observer
• Adaptive fuzzy integral terminal sliding mode control of a nonholonomic wheeled mobile robot
• Influence of the friction coefficient on the trajectory performance for a car-like robot
• Chattering-free sliding mode control for a class of nonlinear mechanical systems
• Trajectory Tracking Control of Planar Underactuated Vehicles
• Approximation by superpositions of a sigmoidal function

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