Sliding mode control of a car-like mobile robot using single-track dynamic model (Q4938980)
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scientific article; zbMATH DE number 1405981
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| English | Sliding mode control of a car-like mobile robot using single-track dynamic model |
scientific article; zbMATH DE number 1405981 |
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11 July 2000
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sliding mode control
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global trajectory tracking
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car-like mobile robot
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sliding mode observer
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0.8263214230537415
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0.8001924157142639
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0.7976253032684326
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Sliding mode control of a car-like mobile robot using single-track dynamic model (English)
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The authors consider the problem of global trajectory tracking for a variable structure system modelling a car-like mobile robot. For this purpose a sliding mode controller based on a suitable sliding mode observer is presented, its stability is analyzed and its performance is illustrated by simulation results. For the entire collection see [Zbl 0922.00035].
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