Software/Hardware-Based Hierarchical Finite-Time Sliding-Mode Control With Input Saturation for an Omnidirectional Autonomous Mobile Robot

Software/Hardware-Based Hierarchical Finite-Time Sliding-Mode Control With Input Saturation for an Omnidirectional Autonomous Mobile Robot

To track the desired pose of the omnidirectional autonomous mobile robot (OAMR) in finite time, the finite-time virtual desired trajectory (FTVDT) is designed by the 1st sliding surface with the linear dynamics and fractional order of pose's tracking error. To track the FTVDT in finite time, th...

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Bibliographic Details
Main Authors: Chih-Lyang Hwang, Hsiu-Ming Wu, Wei-Hsuan Hung
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Omnidirectional autonomous mobile robot
hierarchical control
finite-time sliding-mode control
FPGA
input saturation
Lyapunov stability theory
Online Access:https://ieeexplore.ieee.org/document/8754804/

Internet

https://ieeexplore.ieee.org/document/8754804/

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