• DocumentCode
    2816429
  • 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
  • fYear
    2007
  • fDate
    12-14 Dec. 2007
  • Firstpage
    1999
  • Lastpage
    2004
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2007 46th IEEE Conference on
  • Conference_Location
    New Orleans, LA
  • ISSN
    0191-2216
  • Print_ISBN
    978-1-4244-1497-0
  • Electronic_ISBN
    0191-2216
  • Type

    conf

  • DOI
    10.1109/CDC.2007.4434134
  • Filename
    4434134
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2816429