Trajectory tracking with time-varying terrain conditions for an autonomous omnidirectional mobile robot using stratified variable structure saturated control

DOI10.1080/00207721.2020.1746435zbMath1483.93439OpenAlexW3015593742MaRDI QIDQ5026760

Chih-Lyang Hwang, Wei-Hsuan Hung, Yunta Lee

Publication date: 8 February 2022

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207721.2020.1746435

zbMATH Keywords

Lyapunov stability theoryomnidirectional mobile robotsoftware/hardware-based platformstratified variable structure saturated control

Mathematics Subject Classification ID

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)

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Cites Work

• Backstepping sliding mode control with functional tuning based on an instantaneous power approach applied to an underwater vehicle
• Vertical manoeuvring and rotor speed robust control for mini-helicopter
• Robust adaptive path-following control of underactuated marine vessel with off-track error constraint
• Adaptive fuzzy control for pure-feedback stochastic nonlinear systems with unknown dead zone outputs
• An ESO-based integrated trajectory tracking control for tractor–trailer vehicles with various constraints and physical limitations

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