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Output tracking control of mobile robots based on adaptive backstepping and high order sliding modes

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4 Author(s)
C. K. Li ; Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., China ; Hongmin Chao ; Y. M. Hu ; A. B. Bad

This paper presents the design of a controller based on adaptive backstepping and high order sliding modes for output tracking of mobile robots. The proposed controller can greatly reduce chattering of sliding modes of the system, and it has certain robustness with respect to the external random disturbances and good adaptability with respect to the parametric uncertainty.

Published in:

Systems, Man and Cybernetics, 2002 IEEE International Conference on  (Volume:4 )

Date of Conference:

6-9 Oct. 2002