Title :
Variable structure control of nonholonomic wheeled mobile robot
Author :
Shim, Hyun-Sik ; Kim, Jong-Hwan ; Koh, Kwangill
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejoen, South Korea
Abstract :
A variable structure controller (VSC) for a nonholonomic wheeled mobile robot is proposed for tracking desired trajectories. Although the matching condition for VSC is not satisfied due to nonholonomic property of the robot having two drive wheels, the proposed algorithm guarantees bounded tracking errors by choosing the sliding surface gain properly. Yet the robot tracks its given trajectory without error if there is no initial posture and velocity errors. Simulation results show the effectiveness of the proposed controller
Keywords :
mobile robots; variable structure systems; bounded tracking errors; matching condition; nonholonomic wheeled mobile robot; sliding surface gain; trajectory tracking; variable structure controller; Electrical equipment industry; Gravity; Jacobian matrices; Mobile robots; Robot control; Robot kinematics; Torque control; Trajectory; Vehicle dynamics; Wheels;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525517
