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Title: Output tracking control of mobile robots based on adaptive backstepping and high order sliding modes
Authors: Li, CK
Chao, HM
Hu, YM
Rad, AB
Keywords: Adaptive control
Control system synthesis
Mobile robots
Robust control
Variable structure systems
Issue Date: 2002
Publisher: IEEE
Source: 2002 IEEE International Conference on Systems, Man and Cybernetics, 6-9 October 2002, p. 4 How to cite?
Abstract: This paper presents the design of a controller based on adaptive backstepping and high order sliding modes for output tracking of mobile robots. The proposed controller can greatly reduce chattering of sliding modes of the system, and it has certain robustness with respect to the external random disturbances and good adaptability with respect to the parametric uncertainty.
ISBN: 0-7803-7437-1
ISSN: 1062-922X
DOI: 10.1109/ICSMC.2002.1173255
Appears in Collections:Conference Paper

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