Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC

Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC

Abstract This paper proposes a control strategy integrating the non‐linear extended state observer (NLESO) and the non‐singular terminal sliding mode control (NTSMC) for the trajectory tracking of wheeled mobile robots subject to bounded disturbances. A new transformation method of chained model in...

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Bibliographic Details
Main Authors: Haoyu Wang, Zhiqiang Zuo, Yijing Wang, Hongjiu Yang
Format: Article
Language:English
Published: Wiley 2021-08-01
Series:IET Control Theory & Applications
Subjects:
Spatial variables control
Velocity, acceleration and rotation control
Control of electric power systems
Mobile robots
Control system analysis and synthesis methods
Stability in control theory
Online Access:https://doi.org/10.1049/cth2.12144

Internet

https://doi.org/10.1049/cth2.12144

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