Title of article
The Design of Fast Terminal Sliding Mode Kinematic Control for Wheeled Mobile Robots
Author/Authors
Ghasemi، Hosein نويسنده M.S student in Babol University of Technology Ghasemi, Hosein , Rezaie ، Behrooz نويسنده Academy staff in Babol University of Technology Rezaie , Behrooz , Rahmani ، Zahra نويسنده Academy staff in Babol University of Technology Rahmani , Zahra
Issue Information
فصلنامه با شماره پیاپی 0 سال 2014
Pages
13
From page
680
To page
692
Abstract
This paper addresses the motion control problem of wheeled mobile robots as a class of nonholonomic systems. The proposed control method is based on fast terminal sliding mode control in which the control objective is trajectory tacking. In order to design a terminal sliding mode control for this class of systems, we use extended chained form of the wheeled mobile robot. The proposed method leads to finite time convergent tracking of nonholonomic systems. Simulation results show the applicability and the effectiveness of the proposed method.
Journal title
International Journal of Mechatronics, Electrical and Computer Technology (IJMEC)
Serial Year
2014
Journal title
International Journal of Mechatronics, Electrical and Computer Technology (IJMEC)
Record number
1814096
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