DocumentCode
1958110
Title
Trajectory tracking of two wheeled mobile robot using higher order sliding mode control
Author
Aithal, Himajit ; Janardhanan, S.
Author_Institution
Electr. Eng. Dept., Indian Inst. of Technol., Delhi, New Delhi, India
fYear
2013
fDate
3-4 Aug. 2013
Firstpage
1
Lastpage
4
Abstract
This paper presents a robust control method for trajectory tracking of a two wheeled mobile robot. A second order sliding mode control methodology is used to ensure continuity in the torque inputs, in addition to disturbance rejection. The results are validated through two simulations.
Keywords
control system synthesis; mobile robots; path planning; robot dynamics; robot kinematics; robust control; torque control; trajectory control; variable structure systems; disturbance rejection; higher order sliding mode control; robust control method; second order sliding mode control; torque inputs; trajectory tracking; two wheeled mobile robot; Angular velocity; Mobile robots; Robot kinematics; Robustness; Sliding mode control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Computing Communication & Materials (ICCCCM), 2013 International Conference on
Conference_Location
Allahabad
Print_ISBN
978-1-4799-1374-9
Type
conf
DOI
10.1109/ICCCCM.2013.6648908
Filename
6648908
Link To Document