Nonsingular Terminal Sliding Mode Control of Mobile Robot Using Support Vector Machines

Xi Ru Wu; Yao Nan Wang

doi:10.4028/www.scientific.net/AMM.190-191.705

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 190-191Nonsingular Terminal Sliding Mode Control of...

Nonsingular Terminal Sliding Mode Control of Mobile Robot Using Support Vector Machines

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 190-191)

Pages:

705-709

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.190-191.705

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Online since:

July 2012

Authors:

Xi Ru Wu, Yao Nan Wang

Keywords:

Lyapunov Stability Theorem, Mobile Robot, Sliding Mode Control, Support Vector Machine (SVM)

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