Robust Tracking and Cruise Control of a Class of Robotic Systems

<div>Basins of attraction of the sliding surfaces <svg height="11.6696pt" id="M124" style="vertical-align:-3.219589pt" version="1.1" viewbox="0 -8.45001 17.3823 11.6696" width="17.3823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M578 171L544 179C513 92 483 74 417 74H141L383 357L171 610H352C425 610 449 604 465 585C481 567 490 542 502 497L536 502C531 559 525 633 524 650H46V625L296 326L33 26V0H538L578 171Z" id="g50-147"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="607" vert-adv-y="607"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.891,3.001)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,12.323,3.001)"><path d="M556 174V227H337V439H275V227H56V174H275V-24H337V174H556ZM556 494V547H56V494H556Z" id="g54-38"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g></svg>.</div>

Mathematical Problems in Engineering

Robust Tracking and Cruise Control of a Class of Robotic Systems

Figure 2