|
| This Article | ||
| ||
| Share | ||
| Bibliographic References | ||
| Add to: | ||
 Digg  Furl  Spurl  Blink  Simpy  Google  Del.icio.us  Y!MyWeb | ||
| Search | ||
| ||
2010 Second WRI Global Congress on Intelligent Systems
Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots Based on Neural Dynamic Model
Wuhan, Hubei China
December 16-December 17
ISBN: 978-0-7695-4304-8
| ASCII Text | x | ||
| Z.P. Wang, W.R. Yang, G.X. Ding, "Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots Based on Neural Dynamic Model," 2010 Second WRI Global Congress on Intelligent Systems, vol. 2, pp. 270-273, 2010 Second WRI Global Congress on Intelligent Systems, 2010. | |||
| BibTex | x | ||
| @article{ 10.1109/GCIS.2010.231, author = {Z.P. Wang and W.R. Yang and G.X. Ding}, title = {Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots Based on Neural Dynamic Model}, journal ={2010 Second WRI Global Congress on Intelligent Systems}, volume = {2}, year = {2010}, isbn = {978-0-7695-4304-8}, pages = {270-273}, doi = {http://doi.ieeecomputersociety.org/10.1109/GCIS.2010.231}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - CONF JO - 2010 Second WRI Global Congress on Intelligent Systems TI - Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots Based on Neural Dynamic Model SN - 978-0-7695-4304-8 SP270 EP273 A1 - Z.P. Wang, A1 - W.R. Yang, A1 - G.X. Ding, PY - 2010 KW - nonholonomic wheeled mobile robots KW - sliding mode KW - neural dynamics model VL - 2 JA - 2010 Second WRI Global Congress on Intelligent Systems ER - | |||
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/GCIS.2010.231
In this paper, a sliding mode control law is proposed for nonholonomic wheeled mobile robots using back-stepping technique. In order to resolve the speed jump problem existing in traditional sliding mode tracking controller, a novel sliding mode control law is designed based on neural dynamics model. The simulation results verify the effectiveness of the proposed controllers.
Index Terms:
nonholonomic wheeled mobile robots, sliding mode, neural dynamics model
Citation:
Z.P. Wang, W.R. Yang, G.X. Ding, "Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots Based on Neural Dynamic Model," gcis, vol. 2, pp.270-273, 2010 Second WRI Global Congress on Intelligent Systems, 2010
Usage of this product signifies your acceptance of the Terms of Use.