Title :
Sliding mode control applied to mobile robot: continuous-time and discrete-time cases
Author :
Hamerlain, M. ; Alalouche, T.
Author_Institution :
Lab. de Robotique et d´´Intelligence Artificielle, CDTA, Alger, Algeria
Abstract :
In this work a sliding mode controller solution is proposed for tracking problems associated to well known types of mobile robots. The robustness property of the sliding mode controller for the continuous-time systems can thus be extended to the discrete-time systems under others conditions for existence sliding modes. Simulation results are presented to illustrate the effectiveness of the approach in two cases continuous-time and discrete-time.
Keywords :
continuous time systems; control system analysis; discrete time systems; mobile robots; robust control; variable structure systems; continuous-time system; discrete-time system; mobile robot; robustness property; sliding mode control; tracking problem; Computer aided software engineering; Control systems; Feedback control; Mobile robots; Robot control; Robust control; Sampling methods; Sliding mode control; Switches; Uncertainty;
Conference_Titel :
Control, Communications and Signal Processing, 2004. First International Symposium on
Print_ISBN :
0-7803-8379-6
DOI :
10.1109/ISCCSP.2004.1296208
