Coupled Sliding Mode Control of an Omnidirectional Mobile Robot with Variable Modes*

Xie, Y, Zhang, X, Meng, W et al. (4 more authors) (2020) Coupled Sliding Mode Control of an Omnidirectional Mobile Robot with Variable Modes*. In: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020), 06-09 Jul 2020, Boston, Massachusetts, USA. IEEE , pp. 1792-1797. ISBN 978-1-7281-6795-4

Abstract

Metadata

Authors/Creators:
  • Xie, Y
  • Zhang, X
  • Meng, W
  • Xie, S
  • Jiang, L
  • Meng, J
  • Wang, S
Keywords: Mobile robots , Kinematics , Wheels , Zirconium , Switches; adaptive control , control system synthesis , fuzzy control , mobile robots , nonlinear control systems , position control , time-varying systems , tracking , variable structure systems; mobile robot validate , single-mode control scheme , omnidirectional mobile robot , variable modes , fixed control frame , time-varying dynamics , coupled sliding mode control method , CSMC , alternative modes , satisfactory tracking control , unified state error model , considered multiple modes , sliding surfaces , desired state information , current state information , two-stage fuzzy switching mechanism , autonomous switched tracking control , sliding manifold , state errors
Dates:
  • Published: July 2020
  • Accepted: 1 May 2020
Institution: The University of Leeds
Academic Units: The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds)
Depositing User: Symplectic Publications
Date Deposited: 23 Sep 2020 15:27
Last Modified: 16 Oct 2020 01:14
Status: Published
Publisher: IEEE
Identification Number: https://doi.org/10.1109/aim43001.2020.9158823

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