Title :
Robust stabilization of a mobile robot violating the nonholonomic constraint via quasi-sliding modes
Author :
Corradini, M.L. ; Leo, T. ; Orlando, G.
Author_Institution :
Lecce Univ., Italy
Abstract :
The stabilization problem for a wheeled mobile base has been addressed, considering the presence of disturbances violating the nonholonomic constraint. The proposed solution is based on discrete time sliding mode control, in order to ensure both robustness and implementability. The controller is shown to drive the robot to a bounded neighborhood of the origin. Simulation results have been reported, demonstrating the effectiveness of the proposed control law
Keywords :
discrete time systems; mobile robots; nonlinear control systems; robust control; variable structure systems; discrete time sliding mode control; nonholonomic constraint; quasi-sliding modes; robust stabilization; wheeled mobile base; Automatic control; Mobile robots; Motion control; Nonlinear control systems; Robotics and automation; Robust control; Robustness; Sampling methods; Sliding mode control; Vehicles;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786255
