Title :
Navigation of four-wheel-steering mobile robots using robust fault-tolerant sliding mode control
Author :
Dharmaweera, Madushanka Nishan ; Khoo, Sui Yang ; Man, Zhihong
Author_Institution :
Sch. of Eng., Monash Univ., Bandar Sunway, Malaysia
Abstract :
This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.
Keywords :
adaptive control; fault tolerance; feedback; mobile robots; nonlinear systems; path planning; robust control; uncertain systems; variable structure systems; adaptive input-output feedback linearization method; adaptive sliding mode method; four-wheel-steering mobile robot navigation; leader-follower tracking problem; nonlinear uncertainties; robust fault-tolerant sliding mode control; Equations; Kinematics; Lead; Mathematical model; Robot sensing systems; Vehicles; Adaptive Input-output feedback linearization; Adaptive sliding mode control; Fault-tolerant; Uncertainties;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
DOI :
10.1109/ICARCV.2010.5707942
