Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism

Nonholonomic four-wheeled mobile robot (NFMR) is a typical multiple input–multiple output system that formulates its kinematic dynamics concerning position and attitude in a parallel manner. However, due to the lumped disturbances and interconnected states, demand-satisfied performance is difficult...

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Bibliografische Detailangaben

Hauptverfasser:	Xin Zhang, Dongchen Qin, Shuting Wang, Yuanlong Xie, Hu Li, Shiqi Li
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2022-12-01
Schriftenreihe:	Entropy
Schlagworte:	nonholonomic four-wheeled mobile robot double-loop sliding-mode control nonsingular terminal sliding-mode surface barrier function
Online-Zugang:	https://www.mdpi.com/1099-4300/25/1/27
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