[PDF] Top 20 Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

... the spherical robot with three independent rotors as the inner driver mechanism is shown in ...The robot is composed of a spherical shell, three rotors and three counter weights to balance the ... See full document

... and robust controllers for dealing with the issue of path tracking in wheeled mobile robots [10, ...the trajectory-tracking and path-following problems have their own particular ... See full document

... the tracking errors (x error , y error , and φ error ) for all the schemes for both disturbance ...average tracking errors generated when there is no external disturbances acting on the ...reference ... See full document

... many control strategies have been proposed based on this form [16, 20, 21, ...applying control strategies in order to force the system to move along a desired ...trajectory. Sliding ... See full document

... with control of mobile robot systems, the USV control problems can be divided into setpoint position [13– 18] and trajectory tracking [19–27] ...nonlinear control laws for ... See full document

... Trajectory tracking with high accuracy is a very challenging topic in direct drive robot ...the tracking control of a class of direct-drive robot ...A robust ... See full document

... structure control is an important nonlinear control method with the advantages of being unaffected by parameter change and disturbances, quick to respond and without need for system on-line identification ... See full document

... a robust chattering free backstepping sliding mode controller is successfully developed for attitude stabilization and trajectory tracking of a quadrotor helicopter ... See full document

... a controller, the system model should be defined ...a control point of view, modeling inaccuracies can be classified into two major kinds: ...applies, sliding controller design provides a ... See full document

... Stewart robot used for lower limb ...the control of a parallel robot systems using FSMC for constructing a simple controller in practical ...the controller design in practical ... See full document

... PID controller design methods, the most common performance criteria are integrated absolute error (IAE), the integrated of time weight square error (ITSE), integrated of squared error (ISE) and Mean Square Error ... See full document

... two controller one is PID (Proportional Integral Derivative) and other one is SMC (Sliding Mode ...designed controller are feeding resistive load analysis the result is different condition at ... See full document

... on sliding mode control for trajectory tracking and vibration control of a flexible joint ...designed controller is developed for tip angular position control of a ... See full document

... other attitude parameters such as Euler angles or direction cosine ...spacecraft attitude kinematics in terms of Euler angles, therefore, it cannot be considered as an effective method for expressing the ... See full document

... shows trajectory tracking mobile robot control system using one MIMO wavelet neural network consist of three layers input layer of four neurons, hidden layer (mother wavelet layer) of ... See full document

... desired trajectory in joint space (Torres et ...desired trajectory, we need to solve inverse kinematics ...field, control laws such as robust performance and optimal function are provided to ... See full document

... modelling robot manipulator functionalities and how the trajectory will follow the end effector manipulator input and what is the difference between desired and the actual ...like mobile robots, ... See full document

... of trajectory tracking control based on a neural network controller for industrial ...new control scheme is proposed based on neural network technology and linear feedback approach for ... See full document

... of robot is X=[0;0;0]. Although the inverse U shape trajectory changes suddenly in path the predictive controller shows good trajectory tracking and the posture error is zero ... See full document

... the control of a stand-alone PV system consisting of a POSLL converter is ...(PI) controller, sign function sliding mode controller (SFSMC) and conventional sliding mode ... See full document