An Adaptive Variable Structure Controller for the Trajectory Tracking of a Nonholonomic Mobile Robot with Uncertainties and Disturbances
In this paper, a trajectory tracking control for a nonholonomic mobile robot subjected to uncertainties and disturbances in the kinematic model is proposed. An adaptive variable structure controller based on the sliding mode theory is used, and applied to compensate these uncertainties and disturban...
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| Publicat a: | Journal of Computer Science and Technology |
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| Autors principals: | , , , , |
| Format: | Artigo |
| Idioma: | Inglês |
| Publicat: |
Universidad Nacional de La Plata
2011
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| Matèries: | |
| Accés en línia: | https://www.redalyc.org/articulo.oa?id=638067312006 |
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