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Title: Output tracking control using adaptive backstepping/high order sliding modes
Authors: Li, CK
Hu, YM
Chao, H
Keywords: Adaptive backstepping
High order sliding mode control
Mobile robots
Output tracking
Issue Date: 2003
Source: IEICE transactions on fundamentals of electronics, communications and computer sciences, 2003, v. e86-a, no. 8, p. 2144-2148 How to cite?
Journal: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences 
Abstract: An adaptive backstepping and high order sliding modes control algorithm is proposed for output tracking of mobile robots. The controller can greatly reduce the chattering due to conventional sliding modes technique. The proposed algorithm has certain robustness with respect to the external random disturbances and good adaptability with respect to the parametric uncertainty. The effectiveness of the proposed control strategy is demonstrated by simulations studies.
ISSN: 0916-8508
Appears in Collections:Conference Paper

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