Discrete-time sliding-mode control of four driving-steering wheels autonomous vehicle

Author

Bogdan, D. ; Adrian, Filipescu ; Viorel, Minzu ; Alina, Voda ; Eugenia, Minca

Author_Institution

Dept. of Autom. & Electr. Eng., Univ. Dunarea de Jos of Galati, Galati, Romania

fYear

2011

fDate

22-24 July 2011

Firstpage

3620

Lastpage

3625

Abstract

A discrete-time sliding-mode control for the trajectory tracking problem of four driving-steering wheels (4DW/SW) autonomous vehicle SEEKUR is presented in this paper. SEEKUR is a holonomic, all-wether, outdoor robot platform for outdoor security, inspection and research. SEEKUR´s unique shape and omni-directional steering allow truly holonomic movement. A discrete-time nonholonomic model of SEEKUR is used for the design of the controller, instead of the usual continuous-time model, thus avoiding problems caused by the discretization of the continuous-time controller. The effectiveness of the proposed controller is proven by simulation results.

Keywords

continuous time systems; discrete time systems; mobile robots; variable structure systems; SEEKUR; continuous-time model; discrete-time nonholonomic model; discrete-time sliding-mode control; four driving-steering wheels autonomous vehicle; holonomic movement; omnidirectional steering; outdoor robot platform; outdoor security; trajectory tracking problem; Mobile robots; Sliding mode control; Tracking; Trajectory; Vehicles; Wheels; Discrete-time sliding-mode control; Nonholonomic; Trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6001526