모델 불확실성과 외란이 있는 이동 로봇을 위한 적응 슬라이딩 모드 제어

Adaptive Sliding Mode Control for Nonholonomic Mobile Robots with Model Uncertainty and External Disturbance

This paper proposes an adaptive sliding mode control method for trajectory tracking of nonholonomic mobile robots with model uncertainties and external disturbances. The kinematic model represented by polar coordinates are considered to design a robust control system. Wavelet neural networks (WNNs) are employed to approximate arbitrary model uncertainties in dynamics of the mobile robot. From the Lyapunov stability theory, we derive tuning algorithms for all weights of WNNs and prove that all signals of an adaptive closed-loop system are uniformly ultimately bounded.