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Fixed-time adaptive sliding mode-based trajectory tracking control for Wheeled Mobile Robot: Theoretical development and real-time implementation

Wheeled mobile robots (WMR) are common autonomous systems requiring efficient control methods. This work investigates fixed-time adaptive sliding mode control (FxT-ASMC) for the trajectory tracking task of a WMR subject to disturbances/uncertainties. The developed control strategy seeks to avoid the...

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Principais autores: Brahim Moudoud, Hicham Aissaoui
Formato: Artigo
Idioma:Inglês
Publicado em: Elsevier 2024-12-01
coleção:e-Prime: Advances in Electrical Engineering, Electronics and Energy
Assuntos:
Fixed-time convergence
Sliding mode control
Lyapunov stability
Wheeled mobile robot
Trajectory tracking control
Acesso em linha:http://www.sciencedirect.com/science/article/pii/S2772671124004108
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