OTHER
Integral sliding mode control for trajectory tracking of a unicycle type mobile robot
Michaël Defoort, Thierry Floquet, Annemarie Kökösy, Wilfrid Perruquetti
- Year
- 2006
- Citations
- 40
Abstract
This paper deals with the tracking control for nonholonomic mobile robots in the presence of matched and unmatched perturbations. The controller synthesis is based on the differential flatness property and integral sliding mode control. The wheel act
Keywords
Integral sliding modeControl theory (sociology)Mobile robotFlatness (cosmology)TrajectoryNonholonomic systemTracking (education)Sliding mode controlRobotComputer science
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