Tracking the gradient of artificial potential fields: sliding mode control for mobile robots

DOI10.1080/00207179608921850zbMath0859.93039OpenAlexW2089928347MaRDI QIDQ4876773

Vadim Utkin, J. Guldner

Publication date: 25 March 1997

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179608921850

zbMATH Keywords

variable structure controlmobile robotstracking controlasymptotic state observersnon-holonomic kinematics

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items

SLIDING MODE CONTROL OF GENERALIZED FRACTIONAL CHAOTIC SYSTEMS, Tracking control of a class of non-linear systems with applications to cruise control of air-breathing hypersonic vehicles

Cites Work

• Impedance Control: An Approach to Manipulation: Part I—Theory
• Application of equivalent control method to the systems with large feedback gain