Title :
Robust control of wheeled mobile robot in presence of disturbances and uncertainties
Author :
Koubaa, Yasmine ; Boukattaya, Mohamed ; Damak, Tarak
Author_Institution :
Nat. Eng. Sch. of Sfax (ENIS), Univ. of Sfax, Sfax, Tunisia
Abstract :
This paper deals with the trajectory tracking control problem of nonholonomic wheeled mobile robot, in the presence of external disturbances and parameters uncertainties. The computed torque controller may be used to make convergence of WMR on desired trajectory. Due to the weak of performance against external disturbances, a sliding mode controller is presented. The stability of the controllers is proven by utilizing the Lyapunov stability theory.
Keywords :
Lyapunov methods; mobile robots; robust control; trajectory control; uncertain systems; variable structure systems; Lyapunov stability theory; WMR; external disturbances; nonholonomic wheeled mobile robot; parameters uncertainties; robust control; sliding mode controller; trajectory tracking control problem; Equations; Kinematics; Mobile robots; Torque; Uncertainty; Vectors; Wheels; Lyapunov method; Nonholonomic mobile robot; computed torque; dynamic model; kinematic model; sliding mode; trajectory tracking;
Conference_Titel :
Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2013 14th International Conference on
Conference_Location :
Sousse
Print_ISBN :
978-1-4799-2953-5
DOI :
10.1109/STA.2013.6783143
