ROBUST DISCRETE-TIME ADAPTIVE SLIDING MODE WMR TRAJECTORY TRACKING AND PARAMETER IDENTIFICATION

ROBUST DISCRETE-TIME ADAPTIVE SLIDING MODE WMR TRAJECTORY TRACKING AND PARAMETER IDENTIFICATION

n this paper a discrete-time adaptive sliding mode controller for three wheels mobile robot (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mode controller has designed on two components, corresponding to angular and linear displacement, respec...

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Bibliographic Details
Main Authors: A. FILIPESCU, F. LEITE, U. NUNES
Format: Article
Language:English
Published: Universitatea Dunarea de Jos 2004-12-01
Series:Analele Universităţii "Dunărea de Jos" Galaţi: Fascicula III, Electrotehnică, Electronică, Automatică, Informatică
Subjects:
discrete-time
robust adaptive sliding mode controller
wheeled mobile robot
Online Access:http://www.ann.ugal.ro/eeai/archives/2004/L1-Filipescu.pdf

Internet

http://www.ann.ugal.ro/eeai/archives/2004/L1-Filipescu.pdf

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