Sliding-mode real-time mobile platform control in the presence of uncertainties

Author

Solea, Razvan ; Filipescu, Adrian ; Stamatescu, Grigore

Author_Institution

Dept. of Autom. & Ind. Inf., Univ. Dunarea de Jos of Galati, Galati, Romania

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

7747

Lastpage

7752

Abstract

In this paper, a new sliding-mode trajectory-tracking wheeled mobile robots (WMR) control is proposed. Dynamic model with uncertainties parameters (unknown or time varying mass and moment of inertia) of the WMR is taken into account. Robust stability depending on upper bound uncertainties, is guaranteed. A mobile platform, PatrolBot, with two driving wheels and two rear wheels is used in order to check proposed sliding-mode control. Closed-loop real-time control results are supplied. Good trajectory-tracking performances (small position and orientation errors) in the presence of external disturbances are obtained.

Keywords

closed loop systems; mobile robots; position control; robust control; uncertain systems; variable structure systems; PatrolBot; closed-loop real-time control; robust stability; sliding-mode control; sliding-mode real-time mobile platform control; trajectory-tracking performances; wheeled mobile robots; Electrical equipment industry; Equations; Mobile robots; Robot kinematics; Service robots; Signal to noise ratio; Sliding mode control; Torque control; Uncertainty; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5399667

Filename

5399667