Output Tracking Control Using Adaptive Backstepping/High Order Sliding Modes

Chi Kwong LI  Yue Ming HU  Hongmin CHAO  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E86-A   No.8   pp.2144-2148
Publication Date: 2003/08/01
Online ISSN: 
Print ISSN: 0916-8508
Type of Manuscript: LETTER
Category: Systems and Control
high order sliding mode control,  adaptive backstepping,  mobile robots,  output tracking,  

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An adaptive backstepping and high order sliding modes control algorithm is proposed for output tracking of mobile robots. The controller can greatly reduce the chattering due to conventional sliding modes technique. The proposed algorithm has certain robustness with respect to the external random disturbances and good adaptability with respect to the parametric uncertainty. The effectiveness of the proposed control strategy is demonstrated by simulations studies.