DocumentCode
2953543
Title
Sliding mode control applied to mobile robot: continuous-time and discrete-time cases
Author
Hamerlain, M. ; Alalouche, T.
Author_Institution
Lab. de Robotique et d´´Intelligence Artificielle, CDTA, Alger, Algeria
fYear
2004
fDate
2004
Firstpage
15
Lastpage
20
Abstract
In this work a sliding mode controller solution is proposed for tracking problems associated to well known types of mobile robots. The robustness property of the sliding mode controller for the continuous-time systems can thus be extended to the discrete-time systems under others conditions for existence sliding modes. Simulation results are presented to illustrate the effectiveness of the approach in two cases continuous-time and discrete-time.
Keywords
continuous time systems; control system analysis; discrete time systems; mobile robots; robust control; variable structure systems; continuous-time system; discrete-time system; mobile robot; robustness property; sliding mode control; tracking problem; Computer aided software engineering; Control systems; Feedback control; Mobile robots; Robot control; Robust control; Sampling methods; Sliding mode control; Switches; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Communications and Signal Processing, 2004. First International Symposium on
Print_ISBN
0-7803-8379-6
Type
conf
DOI
10.1109/ISCCSP.2004.1296208
Filename
1296208
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