Time-optimal trajectory generation and observer-based hierarchical sliding mode control for ballbots with system constraints

DOI10.1002/rnc.7358zbMath1543.93041MaRDI QIDQ6577257

Duc Cuong Vu, Thi-Thuy Nguyen, Tung Lam Nguyen, Minh Duc Pham, Thi-Van-Anh Nguyen

Publication date: 23 July 2024

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

zbMATH Keywords

path planninglinear quadratic Gaussianhierarchical sliding mode controlballbotexponential control barrier functionflatness theory

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13) Variable structure systems (93B12) Observers (93B53)

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