Title :
Sliding-mode control for trajectory-tracking of a Wheeled Mobile Robot in presence of uncertainties
Author :
Solea, Razvan ; Filipescu, Adrian ; Nunes, Urbano
Author_Institution :
Fac. of Comput. Sci., Dunarea de Jos Univ. of Galati, Galati, Romania
Abstract :
Wheeled Mobile Robots (WMRs) are the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers and energy saving characteristics. A dynamics-based sliding mode controller for WMR trajectory tracking is proposed. Robustness to external disturbances and parameter uncertainties is achieved. Closed loop real-time results show good performances in trajectory tracking even if for high upper bound of uncertainties.
Keywords :
closed loop systems; mobile robots; position control; robot dynamics; robust control; tracking; uncertain systems; variable structure systems; wheels; closed loop real-time result; mobile robot; robot dynamic; sliding-mode control; trajectory-tracking; uncertain system; wheeled mobile robot; Automatic control; Control systems; Electric variables control; Kinematics; Mobile robots; Sliding mode control; Switches; Trajectory; Uncertainty; Vehicle dynamics;
Conference_Titel :
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location :
Hong Kong
Print_ISBN :
978-89-956056-2-2
Electronic_ISBN :
978-89-956056-9-1
