2013
DOI: 10.1109/iccas.2013.6704095
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Pham Hung Kim Khanh, Nguyen Thanh Trung, Phuc Thinh Doan, Nguyen Hung

Abstract: In this paper, a new tracking controller that integrates a kinematic controller (KC) with a new integral sliding mode dynamic controller (NISMC) is designed for an omnidirectional mobile robot (OMR) to track a desired trajectory at a desired velocity. First, a posture tracking error vector is defined, and kinematic controller (KC) is chosen to make the posture tracking error vector go to zero asymptotically. Second, an integral sliding surface vector is defined based on the angular velocity tracking error vec…

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