Cascade Sliding Control for Trajectory Tracking of a Nonholonomic Mobile Robot with Adaptive Neural Compensator

Table 1

Mobile robot parameters.

Parameters	Pioneer 3DX	Pioneer 2DX	Units
	0.24089	0.3037	s
	0.2424	0.2768	s
	−9.3603e^−4	−4.018e^−4	s⋅m/rad^2
	0.99629	0.9835
	−3.725e^−3	−3.818e^−3	s/m
	1.0915	1.0725