• DocumentCode
    2700064
  • Title

    Discrete super twisting control algorithm for the nonholonomic mobile robots tracking problem

  • Author

    Lopez-Franco, Michel ; Salome-Baylón, Angel ; Alanis, Alma Y. ; Arana-Daniel, Nancy

  • Author_Institution
    CUCEI, Univ. de Guadalajara, Zapopan, Mexico
  • fYear
    2011
  • fDate
    26-28 Oct. 2011
  • Firstpage
    1
  • Lastpage
    5
  • Abstract
    The tracking control of nonholonomic mobile robots has been an important class of control problems. This paper deals with the design and real-time implementation of a discrete-time super twisting control algorithm for nonholonomic wheeled mobile robots, without the previous knowledged of the plant model or its parameters. In order to show the effectiveness of the proposed controller experimental results are included for a nonholonomic mobile robot QBot®3.
  • Keywords
    control system synthesis; discrete systems; mobile robots; motion control; position control; robot kinematics; QBot mobile robot; discrete super twisting control algorithm; nonholonomic wheeled mobile robots; robot tracking problem; Algorithm design and analysis; Mobile robots; Robot kinematics; Trajectory; Wheels; Discrete control; Super twisting control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Electrical Engineering Computing Science and Automatic Control (CCE), 2011 8th International Conference on
  • Conference_Location
    Merida City
  • Print_ISBN
    978-1-4577-1011-7
  • Type

    conf

  • DOI
    10.1109/ICEEE.2011.6106692
  • Filename
    6106692
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2700064