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This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
This paper presents a nonsingular terminal sliding mode control using fuzzy wavelet networks for trajectory tracking and stabilization of a Mecanum wheeled omnidirectional vehicle (MWOV). A dynamic model of the vehicle including static friction is constructed; on the basis of the model, a nonsingular terminal sliding mode control is proposed to achieve trajectory tracking and stabilization. Fuzzy...
This paper presents a backstepping sliding-mode motion control method for trajectory tracking and stabilization of a self-balancing two-wheeled robot (SBTWR). A decoupling method is proposed to decouple the robot's dynamic model such that the motion controller can be synthesized in both kinematic and dynamic levels. In the kinematic level, two virtual controls for trajectory tracking and stabilization...
This paper presents adaptive sliding-mode control methods for self-balancing and yaw rate control of a dynamically two-wheeled human transportation vehicle (HTV) with mass variations and system uncertainties. The proposed controllers aim to provide consistent driving performance for system uncertainties and different drivers whose weights cause parameter variations of the HTV. By decomposing the overall...
This paper presents techniques for dynamic modeling and control of a Ball robot (Ballbot) with inverse mouse-ball drive that is accomplished by simultaneously activating two independent brushless motors. Under this driving scheme, a completely dynamic model of the robot moving in a flat terrain is established constructed based on Lagrangian mechanics. With the model, a sliding-mode control is proposed...
This paper develops a methodology for trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and external load changes. Based on backstepping technique, the proposed control law consists of two levels: kinematics and dynamic levels. First, the auxiliary kinematic velocity control laws for the mobile platform and the onboard arm are separately proposed...
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