Adaptive sliding mode trajectory tracking control for wheeled mobile robots

References

• Bayat, F. , Mobayen, S. , & Javadi, S. (2016). Finite-time tracking control of nth-order chained-form non-holonomic systems in the presence of disturbances. ISA Transactions, 63 , 78–83.
   PubMed Web of Science ®Google Scholar
• Bhat, B. , & Bernstein, D. (1998). Continuous finite-time stabilization of the translational and rotational double integrators. IEEE Transactions on Automatic Control, 43 , 678–682.
   Web of Science ®Google Scholar
• Blazic, S. (2011). A novel trajectory-tracking control law for wheeled mobile robots. Robotics and Autonomous Systems, 59 , 1001–1007.
   Web of Science ®Google Scholar
• Chen, X. , Jia, Y. , & Matsuno, F . (2014). Tracking control of nonholonomic mobile robots with velocity and acceleration constraints. In F. Zhang (Ed.) Proceedings of the American control conference (pp. 880–884). Portland, OR: Institute of Electrical and Electronics Engineers Inc..
   Google Scholar
• Chwa, D. (2004). Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates. IEEE Transactions on Control Systems Technology, 12 , 637–644.
   Web of Science ®Google Scholar
• Hoang, N. , & Kang, H. (2016). Neural network-based adaptive tracking control of mobile robots in the presence of wheel slip and external disturbance force. Neurocomputing, 188 , 12–22.
   Web of Science ®Google Scholar
• Hong, Y. , Huang, J. , & Xu, Y. (2001). On an output feedback finite-time stabilization problem. IEEE Transactions on Automatic Control, 46 , 305–309.
   Web of Science ®Google Scholar
• Huang, X. , Lin, W. , & Yang, B. (2005). Global finite-time stabilization of a class of uncertain nonlinear systems. Automatica, 41 , 881–888.
   Web of Science ®Google Scholar
• Huang, J. , Wen, C. , Wang, W. , & Jiang, Z. (2013). Adaptive stabilization and tracking control of a nonholonomic mobile robot with input saturation and disturbance. Systems and Control Letters, 62 , 234–241.
   Web of Science ®Google Scholar
• Huang, J. , Wen, C. , Wang, W. , & Jiang, Z. (2014). Adaptive output feedback tracking control of a nonholonomic mobile robot. Automatica, 50 , 821–831.
   Web of Science ®Google Scholar
• Huang, D. , Zhai, J. , Ai, W. , & Fei, S. (2016). Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots. Neurocomputing, 198 , 74–79.
   Web of Science ®Google Scholar
• Jiang, Z. , Lefeber, E. , & Nijmeijer, H. (2001). Saturated stabilization and tracking of a nonholonomic mobile robot. Systems and Control Letters, 42 , 327–332.
   Web of Science ®Google Scholar
• Khalil, H . (2002). Nonlinear systems . New Jersey: Prentice Hall.
   Google Scholar
• Khoo, S. , Xie, L. , & Man, Z. (2009). Robust finite-time consensus tracking algorithm for multirobot systems. IEEE Transactions on Mechatronics, 14 , 219–228.
   Web of Science ®Google Scholar
• Lu, K. , & Xia, Y. (2013). Adaptive attitude tracking control for rigid spacecraft with finite-time convergence. Automatica, 49 , 3591–3599.
   Web of Science ®Google Scholar
• Ou, M. , Sun, H. , & Li, S . (2012). Finite-time tracking control of a nonholonomic mobile robot with external disturbances. In W. Li & Q. Zhao (Eds.) Proceeding of the 31st Chinese control conference (pp. 853–858). Hefei, China: Institute of Electrical and Electronics Engineers Inc..
   Google Scholar
• Park, B. , Yoo, S. , Park, J. , & Choi, Y. (2009). Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty. IEEE Transactions on Control Systems Technology, 17 , 207–214.
   Web of Science ®Google Scholar
• Shen, Y. , Huang, Y. , & Gu, J. (2011). Global finite-time observers for Lipschitz nonlinear systems. IEEE Transactions on Automatic Control, 56 , 418–424.
   Web of Science ®Google Scholar
• Shi, S. , Yu, X. , & Khoo, S. (2016). Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements. International Journal of Control, 89 , 411–423.
   Web of Science ®Google Scholar
• Shojaei, K. , Shahri, A. , & Tarakameh, A. (2011). Adaptive feedback linearizing control of nonholonomic wheeled mobile robots in presence of parametric and nonparametric uncertainties. Robotics and Computer-Integrated Manufacturing, 27 , 194–204.
   Web of Science ®Google Scholar
• Worthmann, K. , Mehrez, M. , & Zanon, M. (2015). Regulation of differential drive robots using continuous time MPC without stabilizing constraints or costs. IFAC-PapersOnLine, 48(23) , 129–135.
   Google Scholar
• Xin, L. , Wang, Q. , She, J. , & Li, Y. (2016). Robust adaptive tracking control of wheeled mobile robot. Robotics and Autonomous Systems, 78 , 36–48.
   Web of Science ®Google Scholar
• Zeng, W. , Wang, Q. , Liu, F. , & Wang, Y. (2016). Learning from adaptive neural network output feedback control of a unicycle-type mobile robot. ISA Transactions, 61 , 337–347.
   PubMed Web of Science ®Google Scholar
• Zhai, J. (2014). Global finite-time output feedback stabilization for a class of uncertain non-triangular nonlinear systems. International Journal of Systems Science, 45 , 637–646.
   Web of Science ®Google Scholar
• Zhang, Y. , Liu, G. , & Luo, B. (2014). Finite-time cascaded tracking control approach for mobile robots. Information Sciences, 284 , 31–43.
   Web of Science ®Google Scholar