On the sliding mode control of wheeled mobile robots

Author

Chacal B., J.A. ; Sira-Ramirez, Hebertt

Author_Institution

Dept. Sistemas de Control, Univ. de Los Andes, Merida, Venezuela

Volume

2

fYear

1994

fDate

2-5 Oct 1994

Firstpage

1938

Abstract

In this article a robust multivariable sliding mode controller solution is proposed for the tracking problems associated to well known types of mobile robots. Differential flatness of the underlying nonlinear kinematics and dynamics of the robot is suitably exploited for the multivariable sliding controller synthesis tasks. Natural control input smoothing is shown to be provided by the sought decoupled nature of the closed loop system through dynamic compensation

Keywords

closed loop systems; dynamics; kinematics; mobile robots; motion compensation; nonlinear control systems; robust control; tracking; variable structure systems; closed loop system; differential flatness; dynamic compensation; input smoothing; multivariable sliding controller; nonlinear dynamics; nonlinear kinematics; robust control; sliding mode control; tracking; wheeled mobile robots; Closed loop systems; Control system synthesis; Control systems; Feedback; Kinematics; MIMO; Mobile robots; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Robot kinematics; Robust control; Robustness; Sliding mode control; Smoothing methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-2129-4

Type

conf

DOI

10.1109/ICSMC.1994.400135

Filename

400135