Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics
This article designs a novel adaptive trajectory tracking controller for nonholonomic wheeled mobile robot under kinematic and dynamic uncertainties. A new velocity controller, in which kinematic parameter is estimated, produces velocity command of the robot. The designed adaptive sliding mode dynam...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2018-11-01
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| Series: | Applied Artificial Intelligence |
| Online Access: | http://dx.doi.org/10.1080/08839514.2018.1519100 |