DocumentCode
627703
Title
Design of integral sliding-mode controller with finite-time convergence for omni-directional mobile robots
Author
Chi-Hua Liu
Author_Institution
Gen. Educ. Center, Fortune Univ., Kaohsiung, Taiwan
fYear
2013
fDate
May 31 2013-June 2 2013
Firstpage
59
Lastpage
63
Abstract
In this paper, a finite-time convergent integral sliding-mode controller (FTC-ISMC) is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach and integral sliding-mode control which can drive the error states and error rate states to zero in finite time. All the simulation results demonstrate the effectiveness of the proposed control method.
Keywords
control system synthesis; convergence; mobile robots; trajectory control; variable structure systems; FTC-ISMC; ODMR; error rate states; finite-time convergent integral sliding-mode controller; omnidirectional mobile robots; terminal attractor approach; trajectory control; Intelligent systems; Mobile robots; Sliding mode control; Trajectory; Uncertainty; Wheels; Omni-directional mobile robot; integral sliding-mode control; terminal attractor;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics and Intelligent Systems (ARIS), 2013 International Conference on
Conference_Location
Tainan
Print_ISBN
978-1-4799-0100-5
Type
conf
DOI
10.1109/ARIS.2013.6573535
Filename
6573535
Link To Document