Adaptive super-twisting sliding mode control for mobile robots based on high-gain observers

DOI10.1155/2020/4048507zbMath1458.93136OpenAlexW3046764162MaRDI QIDQ1996529

Yanyan Li

Publication date: 25 February 2021

Published in: Journal of Control Science and Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2020/4048507

zbMATH Keywords

Lyapunov stabilityrobust adaptive output feedback controlsliding mode super-twisting algorithm

Mathematics Subject Classification ID

Feedback control (93B52) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Observers (93B53)

Cites Work

• Integral sliding mode control for trajectory tracking of wheeled mobile robot in presence of uncertainties
• A novel adaptive-gain supertwisting sliding mode controller: methodology and application
• Fault-tolerant iterative learning control for mobile robots non-repetitive trajectory tracking with output constraints
• Cascade high-gain observers in output feedback control
• Adaptive sliding mode controller based on super-twist observer for tethered satellite system
• Continuous approximation of variable structure control
• Output feedback stabilization using super‐twisting control and high‐gain observer
• High‐gain observers in nonlinear feedback control

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