A novel fixed-time prescribed performance sliding mode control for uncertain wheeled mobile robots

This paper proposes a novel fixed-time prescribed performance sliding mode control method, specifically designed to address trajectory tracking issues in wheeled mobile robots (WMRs) affected by wheel slipping, skidding (WSS), and external disturbances. A new prescribed performance sliding surface i...

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Veröffentlicht in:	Scientific reports Jg. 15; H. 1; S. 5340 - 26
Hauptverfasser:	Nguyen, Van-Cuong, Kim, Seong Han
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	London Nature Publishing Group UK 13.02.2025 Nature Publishing Group Nature Portfolio
Schlagworte:	639/166 639/166/987 Algorithms Chattering minimization Fixed-time sliding mode control Humanities and Social Sciences multidisciplinary Non-singular fast terminal sliding mode control Prescribed performance control Robots Science Science (multidisciplinary) Uniform second-order sliding mode algorithm Wheeled mobile robots Chattering minimization Fixed-time sliding mode control Wheeled mobile robots Non-singular fast terminal sliding mode control Uniform second-order sliding mode algorithm Prescribed performance control
ISSN:	2045-2322, 2045-2322
Online-Zugang:	Volltext
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