Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots

Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots

This paper presents a novel extended state observer (ESO) approach for a class of plants with nonlinear dynamics. The proposed observer estimates both the state variables and the total disturbance, which includes both exogenous and endogenous disturbance. The study’s changes can be summarized by dev...

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Bibliographic Details
Main Authors: Ahmad Taher Azar, Azher M. Abed, Farah Ayad Abdul-Majeed, Ibrahim A. Hameed, Anwar Ja’afar Mohamad Jawad, Wameedh Riyadh Abdul-Adheem, Ibraheem Kasim Ibraheem, Nashwa Ahmad Kamal
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Machines
Subjects:
mobile robot
sliding mode control
extended state observer
output tracking
feedback stabilization
Online Access:https://www.mdpi.com/2075-1702/11/4/470

Internet

https://www.mdpi.com/2075-1702/11/4/470

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