Frictional forces and torques compensation based cascaded sliding-mode tracking control for an uncertain omnidirectional mobile robot
The work presented here deals with the trajectory-tracking control of omnidirectional mobile robots using a novel robust control technique. The aim is to achieve good tracking performance in the presence of frictional forces and torques, uncertainties, and saturated control inputs. First, a dynamic...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-03-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940221092033 |