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Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots Based on Neural Dynamic Model

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3 Author(s)
Wang, Z.P. ; Dept. of Control Sci. & Eng., Tongji Univ., Shanghai, China ; Yang, W.R. ; Ding, G.X.

In this paper, a sliding mode control law is proposed for nonholonomic wheeled mobile robots using back-stepping technique. In order to resolve the speed jump problem existing in traditional sliding mode tracking controller, a novel sliding mode control law is designed based on neural dynamics model. The simulation results verify the effectiveness of the proposed controllers.

Published in:

Intelligent Systems (GCIS), 2010 Second WRI Global Congress on  (Volume:2 )

Date of Conference:

16-17 Dec. 2010