DocumentCode
1601775
Title
Sliding-mode control for trajectory-tracking of a Wheeled Mobile Robot in presence of uncertainties
Author
Solea, Razvan ; Filipescu, Adrian ; Nunes, Urbano
Author_Institution
Fac. of Comput. Sci., Dunarea de Jos Univ. of Galati, Galati, Romania
fYear
2009
Firstpage
1701
Lastpage
1706
Abstract
Wheeled Mobile Robots (WMRs) are the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers and energy saving characteristics. A dynamics-based sliding mode controller for WMR trajectory tracking is proposed. Robustness to external disturbances and parameter uncertainties is achieved. Closed loop real-time results show good performances in trajectory tracking even if for high upper bound of uncertainties.
Keywords
closed loop systems; mobile robots; position control; robot dynamics; robust control; tracking; uncertain systems; variable structure systems; wheels; closed loop real-time result; mobile robot; robot dynamic; sliding-mode control; trajectory-tracking; uncertain system; wheeled mobile robot; Automatic control; Control systems; Electric variables control; Kinematics; Mobile robots; Sliding mode control; Switches; Trajectory; Uncertainty; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location
Hong Kong
Print_ISBN
978-89-956056-2-2
Electronic_ISBN
978-89-956056-9-1
Type
conf
Filename
5276210
Link To Document