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IEEE

Adaptive Sliding Mode Control for Trajectory Tracking in Four-Wheeled Mobile Robots Under Uncertainties and External Disturbances

Abstract: In this paper, we propose an adaptive sliding mode control (SMC) design technique to track the desired trajectory of the skid-steering mobile robots in the presence of model uncertainties ...
IEEE

Model Predictive Control of Robot Flexible Joint Motor Based on Lyapunov Prediction Model

Abstract: To address the parameter sensitivity issue of flexible joint permanent magnet synchronous motors (FJ-PMSMs) when employing a candidate voltage vector strategy, an adaptive method based on ...