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
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;
Conference_Titel :
Control Computing Communication & Materials (ICCCCM), 2013 International Conference on
Conference_Location :
Allahabad
Print_ISBN :
978-1-4799-1374-9
DOI :
10.1109/ICCCCM.2013.6648908
