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Robust tracking control of mobile robots in the presence of uncertainties in the dynamical model

✍ Scribed by Corradini, M. L. ;Orlando, G.

Book ID
112186538
Publisher
John Wiley and Sons
Year
2001
Tongue
English
Weight
155 KB
Volume
18
Category
Article
ISSN
0741-2223

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A tracking controller for nonholonomic dynamic systems is proposed which allows global tracking of arbitrary reference trajectories and renders the closed loop system robust with respect to bounded disturbances. The controller is based on [Chwa, D. (2004). Sliding-mode tracking control of nonholonom