%0 Journal Article
%T Applications of High-Order Sliding Mode Control to Robust Output Tracking of Nonholonomic Mobile Robots<br>高阶滑模控制在非完整移动机器人鲁棒输出跟踪中的应用
%A CHAO Hongmin
%A HU Yueming
%A WU Xinsheng
%A <br>晁红敏
%A 胡跃明
%A 吴忻生
%J 控制理论与应用
%D 2002
%I 
%X This paper proposes a high order sliding mode (HOSM) controller for robust output tracking of nonholonomic mobile robots. It can reduce the chattering of sliding mode and has certain robustness with respect to uncertainties of robot. Numerical simulations show the effectiveness of the proposed control strategy.
%K high-order sliding mode control
%K sliding order
%K nonholonomic mobile robots
%K parameter uncertainty
%K robust output tracking
%K chattering reduction<br>高阶滑模控制
%K 滑动阶
%K 移动机器人
%K 参数不确定性
%K 鲁棒输出跟踪
%K 抖振削弱
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=0A28647350CFF78A&yid=C3ACC247184A22C1&vid=2A8D03AD8076A2E3&iid=0B39A22176CE99FB&sid=82722E2B785EBF0D&eid=4290346F7268639E&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=9&reference_num=18