Ehsan Khadem Olama

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In this paper, a sliding mode controller with a generalized H<sub>2</sub> performance is proposed for a unicycle-like mobile robot to implement the trajectory tracking mission. First, a kinematic controller is introduced for the mobile robot and generating the desired values of the linear and angular velocity for the dynamic controller. Secondly, a dynamic(More)
The objective of this article is to present a method to model the kinematics and dynamics of robot manipulators. A complete description of the procedure to model and control a Multi-DOF 3D robot manipulator is detailed and simulated using designed toolbox in MATLAB. Examples of path planning, symbolic dynamic derivation and control strategy designs are(More)
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