Sliding-mode trajectory-tracking control for a four-wheel-steering vehicle

Author

Solea, Razvan ; Filipescu, Adrian ; Minzu, Viorel ; Filipescu, Silviu

Author_Institution

Dept. of Autom. & Ind. Inf., Univ. Dunarea de Jos of Galati, Galati, Romania

fYear

2010

fDate

9-11 June 2010

Firstpage

382

Lastpage

387

Abstract

Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The effectiveness of the proposed control law to trajectory-tracking control is demonstrated by simulation results.

Keywords

mobile robots; nonlinear control systems; position control; variable structure systems; vehicles; double steering; four-wheel-steering vehicle; mobile robots; nonlinear sliding-mode trajectory-tracking control problem; single steering; Automatic control; Computer science; Control systems; Electric variables control; Informatics; Mobile robots; Robotics and automation; Service robots; Sliding mode control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (ICCA), 2010 8th IEEE International Conference on

Conference_Location

Xiamen

ISSN

1948-3449

Print_ISBN

978-1-4244-5195-1

Electronic_ISBN

1948-3449

Type

conf

DOI

10.1109/ICCA.2010.5524422

Filename

5524422