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Robust Discrete-Time Adaptive Sliding Mode WMR Trajectory Tracking and Parameter Identification
dc.contributor.author | Filipescu, A. | |
dc.contributor.author | Leite, F. | |
dc.contributor.author | Nunes, U. | |
dc.date.accessioned | 2015-12-21T13:41:56Z | |
dc.date.available | 2015-12-21T13:41:56Z | |
dc.date.issued | 2004 | |
dc.identifier.issn | 1221-454X | |
dc.identifier.uri | http://10.11.10.50/xmlui/handle/123456789/3762 | |
dc.description | The Annals of "Dunarea de Jos" University of Galati Fascicle III, 2004 | en_US |
dc.description.abstract | In this paper a discrete-time adaptive sliding mode controller for three wheels mobile robot (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mode controller has designed on two components, corresponding to angular and linear displacement, respectively. In order to accomplish the robustness against parameter uncertainties an on-line closed loop identification scheme is proposed. To the both of them, angular and linear displacement controllers, parameter estimates depending of the robots mass, on-line updated, are used. | en_US |
dc.language.iso | en | en_US |
dc.publisher | "Dunarea de Jos" University of Galati | en_US |
dc.subject | discrete-time | en_US |
dc.subject | robust adaptive sliding mode controller | en_US |
dc.subject | wheeled mobile robot | en_US |
dc.title | Robust Discrete-Time Adaptive Sliding Mode WMR Trajectory Tracking and Parameter Identification | en_US |
dc.type | Article | en_US |