Title :
Trajectory tracking control of a car-like mobile robot in presence of sliding
Author :
Hamerlain, Faiza
Author_Institution :
Div. Robot. et Productique, CDTA, Algiers, Algeria
Abstract :
This paper investigates the trajectory tracking control problem of a nonholonomic car-like mobile robot in the presence of sliding effects. Sliding (slipping and skidding) effects are treated as disturbances and introduced into the kinematic model of the car-like using the singular perturbation approach. In order to compensate for the effects of tire slipping and skidding, a robust second order sliding mode controller is developed based on the super twisting algorithm. It is theoretically proven that for car-like vehicle subjected to sliding, the lateral-longitudinal deviations and the orientation errors can be stabilized near the origin. Simulations results show the effectiveness and the robustness of the proposed controller with respect to the sliding effects.
Keywords :
control system synthesis; mobile robots; robot kinematics; robust control; singularly perturbed systems; sliding friction; trajectory control; variable structure systems; car-like vehicle; kinematic model; lateral-longitudinal deviations; nonholonomic car-like mobile robot; orientation error stabilization; robust second order sliding mode controller; singular perturbation approach; sliding effects; super twisting algorithm; trajectory tracking control problem; Europe; Vehicles; Car-like Mobile Robot; Second order sliding mode; Sliding effects; Tracking control;
Conference_Titel :
Control (CONTROL), 2012 UKACC International Conference on
Conference_Location :
Cardiff
Print_ISBN :
978-1-4673-1559-3
Electronic_ISBN :
978-1-4673-1558-6
DOI :
10.1109/CONTROL.2012.6334681