Application of a Discontinuous Controller with Chattering Attenuation
We developed a discontinuous controller to stabilize the movement of a unicycle mobile robot around a desired trajectory via backstepping methodology. The main contribution of the paper is that chattering signal, produced by the imprecision of the discontinuous terms, vanished thanks to an adaptive...
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| Formato: | article |
| Lenguaje: | eng |
| Publicado: |
2007
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| Acceso en línea: | http://bibdigital.epn.edu.ec/handle/15000/9311 |
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