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- W4207069096 endingPage "476" @default.
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- W4207069096 abstract "In this paper, an Improved Extended State Observer-based Finite-Time adaptive sliding mode control, is investigated for trajectory tracking control of a wheeled mobile robot. First, a novel finite-time adaptive sliding mode control, based on the fractional power of the sliding surface, is developed to deal with the chattering problem. Moreover, this strategy improves the convergence rate by adjusting online the switching part in sliding mode control. Second, an improved Non-linear ESO is employed to reconstruct and compensate for the unknown disturbances. To complete the trajectory tracking control, the kinematic algorithm is introduced. Theoretically, the proposed control scheme converges within finite-time thanks to the Lyapunov method. Finally, numerical simulations show the efficiency of the designed controller." @default.
- W4207069096 created "2022-01-26" @default.
- W4207069096 creator A5012886071 @default.
- W4207069096 creator A5024293587 @default.
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- W4207069096 date "2022-01-21" @default.
- W4207069096 modified "2023-09-24" @default.
- W4207069096 title "Extended state observer-based finite-time adaptive sliding mode control for wheeled mobile robot" @default.
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- W4207069096 doi "https://doi.org/10.1080/23307706.2021.2024458" @default.
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