Nonsingular terminal sliding mode control of mobile robot using support vector machines

摘要：

　　In this paper, nonsingular terminal sliding mode control strategies are originally presented for mobile robot in the presence of uncertainties and disturbances.The support vector machines is used to approximate an unknown controlled system from the strategic manipulation of the model errors.Based on the Lyapunov stability theory, it is shown that the proposed controller can prove the stability of the closed-loop system and guarantee tracking performance of robotic system.Finally, simulation results validate the superior control performance of the proposed control method.

关键词： Mobile robot Support vector machines Lyapunov stability theorem Sliding mode control

作者: Wu Xi-ru Wang Yao-nan

作者单位: College of Electric and Information Technology,Hunan University of Arts and Science,Changde,Hunan,41 College of Electdc and Information Technology,Hunan University,Changsha 410082,P.R.China

会议类型: 国际会议

会议名称: the 3nd International Conference on Digital Manufacturing & Automation (第三届数字制造与自动化国际会议(ICDMA 2012))

会议地点: 桂林

会议语种:英文

页码: 705-709

在线出版日期: 2012-08-01（万方平台首次上网日期，不代表论文的发表时间）