DocumentCode
1717558
Title
Robust control of wheeled mobile robot in presence of disturbances and uncertainties
Author
Koubaa, Yasmine ; Boukattaya, Mohamed ; Damak, Tarak
Author_Institution
Nat. Eng. Sch. of Sfax (ENIS), Univ. of Sfax, Sfax, Tunisia
fYear
2013
Firstpage
274
Lastpage
280
Abstract
This paper deals with the trajectory tracking control problem of nonholonomic wheeled mobile robot, in the presence of external disturbances and parameters uncertainties. The computed torque controller may be used to make convergence of WMR on desired trajectory. Due to the weak of performance against external disturbances, a sliding mode controller is presented. The stability of the controllers is proven by utilizing the Lyapunov stability theory.
Keywords
Lyapunov methods; mobile robots; robust control; trajectory control; uncertain systems; variable structure systems; Lyapunov stability theory; WMR; external disturbances; nonholonomic wheeled mobile robot; parameters uncertainties; robust control; sliding mode controller; trajectory tracking control problem; Equations; Kinematics; Mobile robots; Torque; Uncertainty; Vectors; Wheels; Lyapunov method; Nonholonomic mobile robot; computed torque; dynamic model; kinematic model; sliding mode; trajectory tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2013 14th International Conference on
Conference_Location
Sousse
Print_ISBN
978-1-4799-2953-5
Type
conf
DOI
10.1109/STA.2013.6783143
Filename
6783143
Link To Document