Designing a free chattering robust nonlinear sliding mode control for underactuated two wheels mobile robots with disturbances and uncertainties

In this paper, we propose a novel free chattering robust nonlinear sliding mode control based on the Lyapunov theory for underactuated two-wheels mobile robots. The salient features of the proposed control method are as: (1) it considers the full dynamics of the system, disturbances, and uncertainti...

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Veröffentlicht in:	Journal of vibration and control 2024-02, Vol.30 (3-4), p.685-696
Hauptverfasser:	Alihosseini, Amir, Dehkordi, Nima Mahdian, Sajjadi, Mohammadreza
Format:	Artikel
Sprache:	eng
Schlagworte:	Control methods Control systems design Controllers Disturbances Nonlinear control Robots Robust control Sliding mode control Uncertainty
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