Trajectory tracking control of a four mecanum wheeled mobile platform: an extended state observer-based sliding mode approach
DOI10.1049/iet-cta.2018.6127zbMath1544.93576MaRDI QIDQ6598731
Li-Gang Wu, Jianxing Liu, Zhenyi Yuan, Siyi Wang, Yunfei Yin, Yingxin Tian
Publication date: 5 September 2024
Published in: IET Control Theory \& Applications (Search for Journal in Brave)
observersvariable structure systemsmobile robotsLyapunov methodswheelstrajectory tracking controlmodel uncertaintiestracking performancecontrol system synthesistrajectory controlcontrol performanceunknown disturbancesreference trajectoriesmobile platformthree-term controlmode approachESO-SMC controllerextended state observer-based sliding mode control approachFMWMPmecanum wheeled mobile platformSMC schemetraditional proportional-integral-derivative controllerUDMU
Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Observers (93B53)
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