Cascade sliding control for trajectory tracking of a nonholonomic mobile robot with adaptive neural compensator

DOI10.1155/2017/8501098zbMath1426.93201MaRDI QIDQ1993222

Gustavo J. E. Scaglia, Flavio Capraro, Francisco Guido Rossomando, Carlos Soria

Publication date: 5 November 2018

Published in: Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2017/8501098

zbMATH Keywords

nonholonomic mobile robot; adaptive neural compensator; cascade sliding control

Mathematics Subject Classification ID

93C40: Adaptive control/observation systems

93C85: Automated systems (robots, etc.) in control theory

93A13: Hierarchical systems

93B12: Variable structure systems

70E60: Robot dynamics and control of rigid bodies