Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control

Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control

In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

Dynamic Surface Sliding Mode Algorithm Based on Approximation for Three-Dimensional Trajectory Tracking Control of an AUV

trajectory tracking of under-actuated nonlinear dynamic robots: adaptive fuzzy hierarchical terminal sliding-mode control

in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

Mobile Robot Trajectory Tracking Based on Fast Terminal Sliding Mode Control

This paper presents a trajectory tracking control method for nonholonomic mobile robot which is based only on kinematic model. A mobile robot trajectory tracking control method, based on terminal sliding mode control, with asymptotic stability is presented. Based on kinematic model of mobile robot, a terminal sliding mode control law for the angular velocity is proposed to reduce the tracking e...