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
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;
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
DOI :
10.1109/ICEEE.2011.6106692
