OTHER
A New Tracking Control Algorithm for a Wheeled Mobile Robot Based on Backstepping and Hierarchical Sliding Mode Techniques
Sen Huong Thi Pham, Nguyễn Quang Minh, Do Thi Tu Anh, Phan Xuan Minh
- Year
- 2019
- Citations
- 21
Abstract
The paper presents a recently developed trajectory tracking control algorithm for a wheeled mobile robot, which incorporates hierarchical sliding mode and backstepping control routines. The so-called backstepping hierarchical sliding mode tracking control guarantees the closed-loop stability and zero tracking error. Numerical simulation results show the effectiveness and the capability for practical applications of the proposed control method.
Keywords
BacksteppingMobile robotSliding mode controlControl theory (sociology)Computer scienceTracking (education)TrajectoryStability (learning theory)Mode (computer interface)Tracking error
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