Title :
Sliding mode control of a nonholonomic wheeled mobile robot for trajectory tracking
Author :
Yang, Jung-Min ; Choi, In-Hwan ; Kim, Jong-Hwan
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
We propose a tracking control of a nonholonomic wheeled mobile robot using variable structure systems. The posture of the mobile robot is represented by polar coordinates and a sliding mode control algorithm is presented for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to system perturbations and measurement errors. Simulation and experimental results confirm the validity of accurate tracking capability and the robust performance of the proposed scheme
Keywords :
asymptotic stability; mobile robots; position control; robust control; variable structure systems; accurate tracking capability; nonholonomic wheeled mobile robot; posture; robust performance; sliding mode control; trajectory tracking; Control systems; Electric variables control; Equations; Measurement errors; Mobile robots; Robot kinematics; Robustness; Sliding mode control; Trajectory; Wheels;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680883
