Applications of High-Order Sliding Mode Control to Robust Output Tracking of Nonholonomic Mobile Robots
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

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.