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Please use this identifier to cite or link to this item: https://dspace.ucuenca.edu.ec/handle/123456789/45815
Title: Dynamics modeling and trajectory tracking control of a life support robot using sliding-mode control with extended state observer
Authors: Minchala, Luis Ismael
Keywords: Backstepping
Extended state observer
Sliding-mode control
Life support robots
Lagrange equation
metadata.dc.ucuenca.areaconocimientofrascatiamplio: 2. Ingeniería y Tecnología
metadata.dc.ucuenca.areaconocimientofrascatidetallado: 2.10.2 Nano-Procesos [Aplicaciones a Nano-Escala]
metadata.dc.ucuenca.areaconocimientofrascatiespecifico: 2.10 NanoTecnología
metadata.dc.ucuenca.areaconocimientounescoamplio: 07 - Ingeniería, Industria y Construcción
metadata.dc.ucuenca.areaconocimientounescodetallado: 0714 - Electrónica y Automatización
metadata.dc.ucuenca.areaconocimientounescoespecifico: 071 - Ingeniería y Profesiones Afines
Issue Date: 2024
metadata.dc.ucuenca.embargoend: 31-Dec-2050
metadata.dc.ucuenca.volumen: Volumen 361, número 12
metadata.dc.source: Journal of the Franklin Institute
metadata.dc.identifier.doi: 10.1016/j.jfranklin.2024.107013
metadata.dc.type: ARTÍCULO
Abstract: 
his paper investigates the trajectory tracking control problem of a life support robot chassis under the slipping disturbances. First, a novel dynamics model for the robot chassis is proposed based on Lagrange equation. The constructed model incorporates the effects of rotational kinetic energy from the driving wheels, providing a more comprehensive representation of the chassis dynamics. Then, on the basis of the innovative framework, the dual-loop trajectory tracking control is derived for the chassis, via the kinematics-based backstepping controller and the dynamics-based sliding-mode controller. Moreover, an extended state observer is designed to reduce the influence caused by external disturbances. Finally, the effectiveness and superiority of the proposed tracking control approach are verified through simulation experiments.
URI: https://dspace.ucuenca.edu.ec/handle/123456789/45815
https://www.scopus.com/record/display.uri?eid=2-s2.0-85196319090&origin=resultslist&sort=plf-f&src=s&sot=b&sdt=b&s=TITLE-ABS-KEY%28Dynamics+modeling+and+trajectory+tracking+control+of+a+life+support+robot+using+sliding-mode+control+with+extended+state+observer%29&sessionSearchId=3ba57aa862ef8848168a5b28732139a8&relpos=0
metadata.dc.ucuenca.urifuente: https://www.sciencedirect.com/journal/journal-of-the-franklin-institute
ISSN: 00160032
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