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

conference contribution
posted on 2010-01-01, 00:00 authored by M Dharmaweera, Sui Yang KhooSui Yang Khoo, Z Man
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.

History

Event

IEEE International Conference on Control, Automation, Robotics & Vision (11th : 2010 : Singapore)

Pagination

1375 - 1380

Publisher

IEEE

Location

Singapore

Place of publication

Piscataway, N.J.

Start date

2010-12-07

End date

2010-12-10

ISBN-13

9781424478156

ISBN-10

1424478154

Language

eng

Publication classification

E1 Full written paper - refereed

Copyright notice

2010, IEEE

Title of proceedings

ICARCV 2010 : 11th International Conference on Control, Automation, Robotics and Vision

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