DocumentCode
3071012
Title
Robust stabilization of a mobile robot violating the nonholonomic constraint via quasi-sliding modes
Author
Corradini, M.L. ; Leo, T. ; Orlando, G.
Author_Institution
Lecce Univ., Italy
Volume
6
fYear
1999
fDate
1999
Firstpage
3935
Abstract
The stabilization problem for a wheeled mobile base has been addressed, considering the presence of disturbances violating the nonholonomic constraint. The proposed solution is based on discrete time sliding mode control, in order to ensure both robustness and implementability. The controller is shown to drive the robot to a bounded neighborhood of the origin. Simulation results have been reported, demonstrating the effectiveness of the proposed control law
Keywords
discrete time systems; mobile robots; nonlinear control systems; robust control; variable structure systems; discrete time sliding mode control; nonholonomic constraint; quasi-sliding modes; robust stabilization; wheeled mobile base; Automatic control; Mobile robots; Motion control; Nonlinear control systems; Robotics and automation; Robust control; Robustness; Sampling methods; Sliding mode control; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
Conference_Location
San Diego, CA
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.786255
Filename
786255
Link To Document