DocumentCode :
3221825
Title :
Sliding-mode trajectory-tracking control for a four-wheel-steering vehicle
Author :
Solea, Razvan ; Filipescu, Adrian ; Minzu, Viorel ; Filipescu, Silviu
Author_Institution :
Dept. of Autom. & Ind. Inf., Univ. Dunarea de Jos of Galati, Galati, Romania
fYear :
2010
fDate :
9-11 June 2010
Firstpage :
382
Lastpage :
387
Abstract :
Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The effectiveness of the proposed control law to trajectory-tracking control is demonstrated by simulation results.
Keywords :
mobile robots; nonlinear control systems; position control; variable structure systems; vehicles; double steering; four-wheel-steering vehicle; mobile robots; nonlinear sliding-mode trajectory-tracking control problem; single steering; Automatic control; Computer science; Control systems; Electric variables control; Informatics; Mobile robots; Robotics and automation; Service robots; Sliding mode control; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Automation (ICCA), 2010 8th IEEE International Conference on
Conference_Location :
Xiamen
ISSN :
1948-3449
Print_ISBN :
978-1-4244-5195-1
Electronic_ISBN :
1948-3449
Type :
conf
DOI :
10.1109/ICCA.2010.5524422
Filename :
5524422
Link To Document :
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