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	Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE) 会议论文 OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China Xie M.-J.; Li L.-T.; Wang Z.-Q. 收藏 \| 浏览/下载：26/0 \| 提交时间：2013/03/25 The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking and reduces the tracking error and the chattering of the control output. 2012 IEEE.
	Differential equations of motion for constrained systems with respect to three kinds of nonholonomic variations 期刊论文 OAI收割 ACTA PHYSICA SINICA, 2008, 卷号: 57, 期号: 4, 页码: 1998-2005 作者: Zhe Zhao; Guo YongXin; Chang Liu; Liu ShiXing \| 收藏 \| 浏览/下载：12/0 \| 提交时间：2021/02/02 VAKONOMIC DYNAMICS MECHANICAL SYSTEMS nonholonomic constraints Chetaev's condition vakonomic dynamics method of Lagrange multipliers
	Differential equations of motion for constrained systems with respect to three kinds of nonholonomic variations 期刊论文 OAI收割 ACTA PHYSICA SINICA, 2008, 卷号: 57, 期号: 4, 页码: 1998-2005 作者: Zhe Zhao; Guo YongXin; Chang Liu; Liu ShiXing \| 收藏 \| 浏览/下载：6/0 \| 提交时间：2021/02/02 VAKONOMIC DYNAMICS MECHANICAL SYSTEMS nonholonomic constraints Chetaev's condition vakonomic dynamics method of Lagrange multipliers
	具有不确定性的非完整移动机器人的自适应模糊控制研究学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2007 作者: 邹安民收藏 \| 浏览/下载：74/0 \| 提交时间：2015/09/02 非完整约束移动机器人自适应控制模糊逻辑系统 Backstepping Nonholonomic constraints mobile robot adaptive control fuzzy logic systems Backstepping
	Integrated task planning and control for mobile manipulators 期刊论文 OAI收割 International Journal of Robotics Research, 2003, 卷号: 22, 期号: 5, 页码: 337-354 作者: Tan JD(谈金东); Wang YC(王越超) \| 收藏 \| 浏览/下载：22/0 \| 提交时间：2012/05/29 Mobile Manipulation Coordination Force/position Control Manipulation Of Moving Objects With Nonholonomic Constraints