Title :
Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots Based on Neural Dynamic Model
Author :
Wang, Z.P. ; Yang, W.R. ; Ding, G.X.
Author_Institution :
Dept. of Control Sci. & Eng., Tongji Univ., Shanghai, China
Abstract :
In this paper, a sliding mode control law is proposed for nonholonomic wheeled mobile robots using back-stepping technique. In order to resolve the speed jump problem existing in traditional sliding mode tracking controller, a novel sliding mode control law is designed based on neural dynamics model. The simulation results verify the effectiveness of the proposed controllers.
Keywords :
mobile robots; neurocontrollers; position control; variable structure systems; back-stepping technique; neural dynamic model; nonholonomic wheeled mobile robots; sliding mode control; speed jump problem; trajectory tracking; Biological system modeling; Biomembranes; Mobile robots; Sliding mode control; Trajectory; neural dynamics model; nonholonomic wheeled mobile robots; sliding mode;
Conference_Titel :
Intelligent Systems (GCIS), 2010 Second WRI Global Congress on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-9247-3
DOI :
10.1109/GCIS.2010.231
