Integral sliding mode control for trajectory tracking of wheeled mobile robot in presence of uncertainties

DOI10.1155/2016/7915375zbMath1346.93102OpenAlexW2417276951WikidataQ59126135 ScholiaQ59126135MaRDI QIDQ328335

Atallah Benalia, Farès Boudjema, Aicha Bessas

Publication date: 20 October 2016

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

Full work available at URL: https://doi.org/10.1155/2016/7915375

zbMATH Keywords

wheeled mobile robotstabilizationuncertaintiestrajectory trackingintegral sliding mode control

Mathematics Subject Classification ID

Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Variable structure systems (93B12)

Related Items (2)

Cascade sliding control for trajectory tracking of a nonholonomic mobile robot with adaptive neural compensator ⋮ Adaptive super-twisting sliding mode control for mobile robots based on high-gain observers

Cites Work

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• Steering for a class of dynamic nonholonomic systems
• Control of nonlinear chained systems: from the Routh-Hurwitz stability criterion to time-varying exponential stabilizers
• Nonlinear Integral-Type Sliding Surface for Both Matched and Unmatched Uncertain Systems
• Analysis and design of integral sliding manifolds for systems with unmatched perturbations

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