DocumentCode
3536950
Title
Trajectory tracking with a hybrid control applied to a bi-steerable car
Author
Tchenderli-Braham, S.A. ; Hamerlain, F.
Author_Institution
Centre de Dev. des Technol. Av. (CDTA), Lab. de Robot., Algiers, Algeria
fYear
2013
fDate
26-27 Aug. 2013
Firstpage
252
Lastpage
257
Abstract
In this paper we propose to solve the problem of stability and robustness for a trajectory tracking control applied to a bi-steerable mobile robot (Bis-Car) by using a discontinuous hybrid control law. This control is developed from the principles of methods of classic sliding mode and Backstepping. The robustness and the applicability of this control law are shown by simulation and experimentation results.
Keywords
automobiles; control system synthesis; mobile robots; path planning; robust control; steering systems; trajectory control; variable structure systems; Bis-Car; backstepping methods; bisteerable car; bisteerable mobile robot; discontinuous hybrid control law; hybrid control; robustness problem; sliding mode methods; stability problem; trajectory tracking control; Backstepping; Kinematics; Lyapunov methods; Mobile robots; Trajectory; Backstepping; Bi-Steerable Car; Sliding mode; Trajectory tracking; Wheeled Mobile Robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems and Computer Science (ICSCS), 2013 2nd International Conference on
Conference_Location
Villeneuve d´Ascq
Print_ISBN
978-1-4799-2020-4
Type
conf
DOI
10.1109/IcConSCS.2013.6632056
Filename
6632056
Link To Document