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Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control

Dharmaweera, Madushanka Nishan, Khoo, Suiyang and Man, Zhihong 2010, Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control, in ICARCV 2010 : 11th International Conference on Control, Automation, Robotics and Vision, IEEE, Piscataway, N.J., pp. 1375-1380.

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Title Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control
Author(s) Dharmaweera, Madushanka Nishan
Khoo, Suiyang
Man, Zhihong
Conference name IEEE International Conference on Control, Automation, Robotics & Vision (11th : 2010 : Singapore)
Conference location Singapore
Conference dates 7-10 Dec. 2010
Title of proceedings ICARCV 2010 : 11th International Conference on Control, Automation, Robotics and Vision
Editor(s) [Unknown]
Publication date 2010
Conference series International Conference on Control, Automation, Robotics and Vision
Start page 1375
End page 1380
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Keyword(s) adaptive sliding mode control
fault-tolerant
uncertainties
adaptive input-output feedback linearization
Summary This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.
ISBN 1424478154
9781424478156
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
HERDC collection year 2010
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30034528

Document type: Conference Paper
Collection: School of Engineering
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