Target Tracking Algorithm Using Finite-time Convergence Smooth Second-order Sliding Mode Controller for Mobile Robots |
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| Authors: | GE Lianzheng ZHAO Lijun GAO Tong State Key Laboratory of Robotics Technique System Harbin Institute of Technology Harbin China |
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| Affiliation: | GE Lianzheng,ZHAO Lijun,and GAO Tong State Key Laboratory of Robotics Technique and System,Harbin Institute of Technology,Harbin 150001,China |
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| Abstract: | Target tracking control for wheeled mobile robot (WMR) need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the targ... |
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| Keywords: | mobile robots second order sliding mode finite-time convergence observer |
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