Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots

Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots

This paper proposes an integral sliding control system based on the nonlinear disturbance observer, aiming to the trajectory tracking of the mobile robot under the external disturbance. First, a kinematic model of mobile robot was built, besides, the position error signal was gained by the biologica...

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Bibliographic Details
Main Authors: Xiaohui Yang, Peng Wei, Yangyang Zhang, Xiaoping Liu, Li Yang
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Mobile robots
trajectory tracking
disturbance observer
integral sliding mode variable structure
back-stepping control
Online Access:https://ieeexplore.ieee.org/document/8673761/

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