Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method

Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method

Wheeled mobile robots (WMRs) in real complex environments such as on extraterrestrial planets are confronted with uncertain external disturbances and strong coupling of wheel-ground interactions while tracking commanded trajectories. Methods based on sliding mode control (SMC) are popular approaches...

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Bibliographic Details
Main Authors: Zhi Li, Bo You, Liang Ding, Haibo Gao, Fengxiang Huang
Format: Article
Language:English
Published: Wiley 2019-01-01
Series:International Journal of Aerospace Engineering
Online Access:http://dx.doi.org/10.1155/2019/4951538
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