Output tracking control of mobile manipulators based on dynamical sliding-mode control
β Scribed by Wu, Yuxiang ;Feng, Ying ;Hu, Yueming
- Book ID
- 107378204
- Publisher
- Higher Education Press and Springer
- Year
- 2007
- Tongue
- English
- Weight
- 552 KB
- Volume
- 2
- Category
- Article
- ISSN
- 1673-3479
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π SIMILAR VOLUMES
An alternative adaptive scheme to achieve output tracking for a class of minimum-phase dynamically input-output linearizable nonlinear systems with parametric uncertainties is considered. The proposed approach is based upon a combination of the adaptive backstepping design method and a sliding mode
The robust output tracking control problem of general nonlinear multi-input multi-output (MIMO) systems is discussed. The robustness against parameter uncertainties and unknown disturbances is considered. A second order sliding mode control (SMC) technique is used to establish the desired tracking.