Hybrid integral sliding mode and fuzzy logic control for omnidirectional robots: modified elephant herding optimization for trajectory tracking

Abstract Trajectory tracking and robust motion control remain central challenges in autonomous robotic systems operating under nonlinear and uncertain conditions. This study proposes a novel hybrid control framework that integrates Integral Sliding Mode Control (ISMC), whose control parameters are c...

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Автори:	Rasha Mohammed Hussein, Auday Shaker Hadi, Sameh Fareed Hasan, Luttfi A. Al-Haddad, Rafika Harrabi, Aymen Flah, Iman Ahmed Abdul Sahib
Формат:	Artigo
Мова:	Inglês
Опубліковано:	Nature Portfolio 2025-10-01
Серія:	Scientific Reports
Предмети:	Three-wheeled omnidirectional mobile robot (TOMR) Trajectory tracking Integral sliding mode Elephant harding optimization
Онлайн доступ:	https://doi.org/10.1038/s41598-025-19449-x
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