Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/4486
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dc.contributor.authorYesmin, Asifa-
dc.contributor.authorNath, Krishanu-
dc.contributor.authorKumari, Kiran-
dc.contributor.authorSinha, Arpita-
dc.contributor.authorBera, Manas Kumar-
dc.date.accessioned2024-03-19T11:54:08Z-
dc.date.available2024-03-19T11:54:08Z-
dc.date.issued2024-03-
dc.identifier.citationEighth IFAC International Conference on Advances in Control and Optimization of Dynamical Systems (ACODS 2024), Shiv Nadar University, Delhi, India, 12-15 March 2024en_US
dc.identifier.urihttp://hdl.handle.net/2080/4487-
dc.descriptionCopyright belongs to proceeding publisheren_US
dc.description.abstractThis paper presents the design of an adaptive generalized super-twisting sliding mode control (SMC) for reference tracking by the two-wheeled mobile robot in the presence of uncertainty. An additional linear correction term is included in the generalized supertwisting control. The designed controller can achieve the convergence of the tracking error and reduced chattering due to the generalized super-twisting structure. The detailed Lyapunovbased stability proof has been derived to ensure the stability of the two-wheeled robot. To relax the dependence on the upper bound of the unknown disturbance, the adaptive SMC has been incorporated. The appropriate adaptive gain has been designed judiciously to ensure the convergence of the sliding variable and the tracking error. Finally, the practical implementation of the proposed adaptive generalized super-twisting robust controller is carried out on a real system, specifically the Q-bot 2e, to illustrate the effectiveness of the designed controller.en_US
dc.subjectAdaptive controlen_US
dc.subjectAutonomous Mobile Roboten_US
dc.subjectRobust Controlen_US
dc.subjectSliding mode Controlen_US
dc.subjectSuper-twisting Controlen_US
dc.titleAdaptive Generalized Super-Twisting Sliding Mode Controller for Wheeled Mobile Roboten_US
dc.typeArticleen_US
Appears in Collections:Conference Papers
Conference Papers

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