In this chapter, the problem of trajectory tracking control of DWMRs based only on their kinematic model, described in rectangular coordinates, is investigated taking into account uncertainties and disturbances during its movement, so that the statement of perfect velocity tracking is not maintained in practice. Thus, in front of such scenario, controller variants based on sliding mode control theory (SMC) are used to provide robustness.
Robust Control: First-Order Sliding Mode Control Techniques
Studies in Systems, Decision and Control
2021-08-13
32 pages
Article/Chapter (Book)
Electronic Resource
English
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