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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

Yunjun Zheng Jinchuan Zheng Ke Shao Han Zhao Hao Xie Hai Wang

自动化学报（英文版）2024，Vol.11Issue(4)：1007-1021,15.

自动化学报（英文版）2024，Vol.11Issue(4)：1007-1021,15.DOI:10.1109/JAS.2023.124002

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

Yunjun Zheng ¹Jinchuan Zheng ²Ke Shao ³Han Zhao ¹Hao Xie ⁴Hai Wang⁵

作者信息

1. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China
2. School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Hawthorn VIC 3122, Australia
3. School of Civil Aviation, Northwestern Polytechnical University, Xi'an 710072, China
4. Shanghai Aerospace Control Technology Institute, Shanghai 201109||School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
5. College of Science, Health, Engineering and Education, Murdoch University, Perth WA6150, Australia
折叠

摘要

关键词

Adaptive sliding mode/barrier function/nonholo-nomic wheeled mobile robot(NWMR)/trajectory tracking control

Key words

Adaptive sliding mode/barrier function/nonholo-nomic wheeled mobile robot(NWMR)/trajectory tracking control

引用本文复制引用

Yunjun Zheng,Jinchuan Zheng,Ke Shao,Han Zhao,Hao Xie,Hai Wang..Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach[J].自动化学报（英文版）,2024,11(4):1007-1021,15.

基金项目

This work was supported in part by the China Scholarship Council(202106690037)and the Natural Science Foundation of Anhui Province(19080885QE194). （202106690037）

自动化学报（英文版）

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