Nonsingular terminal sliding mode control of mobile robot using support vector machines

被引：0
|
作者：
Wu Xi-ru [1 ,2 ]
Wang Yao-nan [2 ]
机构：
[1] Hunan Univ Arts & Sci, Coll Elect & Informat Technol, Changde 415000, Hunan, Peoples R China
[2] Hunan Univ, Coll Elect & Informat Technol, Changsha 410082, Peoples R China
来源：
DIGITAL MANUFACTURING & AUTOMATION III, PTS 1 AND 2 | 2012年 / 190-191卷
关键词：
Mobile robot; Support vector machines; Lyapunov stability theorem; Sliding mode control; MANIPULATORS;
D O I：
10.4028/www.scientific.net/AMM.190-191.705
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, nonsingular terminal sliding mode control strategies are originally presented for mobile robot in the presence of uncertainties and disturbances. The support vector machines is used to approximate an unknown controlled system from the strategic manipulation of the model errors. Based on the Lyapunov stability theory, it is shown that the proposed controller can prove the stability of the closed-loop system and guarantee tracking performance of robotic system. Finally, simulation results validate the superior control performance of the proposed control method.
引用
收藏
页码：705 / +
页数：2
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