Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots

A proportional plus derivative (PD) adaptive tracking control strategy based on neural sliding mode is proposed for the interference of unknown factors in the mathematical model of four-wheel omnidirectional robots. Firstly, the dynamics model of the robot is analyzed. Secondly, the backstepping tra...

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Bibliographic Details

Published in:	Jixie chuandong
Main Authors:	Zhang Kaiwen, Li Guoli, Xu Jiazi, Wang Qunjing, Wen Yan
Format:	Article
Language:	Chinese
Published:	Editorial Office of Journal of Mechanical Transmission 2023-11-01
Subjects:	Trajectory tracking Omnidirectional mobile robot Neural network adaptive control PD control
Online Access:	http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.11.002