Title :
Practical stabilization and tracking of a wheeled mobile robot with integral sliding mode controller
Author :
Defoort, M. ; Palos, J. ; Floquet, T. ; Kokosy, A. ; Perruquetti, W.
Author_Institution :
LAGIS UMR CNRS 8146, Lille
Abstract :
This paper is dedicated to the robust stabilization and tracking problems for a wheeled mobile robot. After the mobile robot dynamics have been transformed into an advantageous form, a robust integral sliding mode controller is designed to promulgate a practical stabilization in spite of the uncertainties. The performance of the proposed controller is experimentally demonstrated on a real robot.
Keywords :
mobile robots; robot dynamics; robust control; variable structure systems; integral sliding mode controller; mobile robot dynamics; robust stabilization; tracking problems; wheeled mobile robot; Asymptotic stability; Control systems; Mechanical systems; Mobile robots; Robust control; Sliding mode control; State feedback; Time varying systems; USA Councils; Uncertainty;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434134
