A nonlinear trajectory tracking algorithm design based on second-order sliding mode control for mobile robots

Author

Lian-zheng, Ge ; Rui-feng, Li ; Zhao Li-jun

Author_Institution

Lab. for Robot., Harbin Inst. of Technol., Harbin

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1184

Lastpage

1189

Abstract

This paper deals with the target tracking problem for a two wheeled mobile robot (WMR), which has been widely studied recently. The tracking math model was established according to the characters of WMR. Meanwhile a nonlinear tracking algorithm was presented based on second-order sliding mode control theory, considering the kinematics of tracking math model and the uncertainty of target acceleration. A special observer was designed to estimate the target acceleration at the same time, and the simulation and experiment results verified the effectiveness of the trajectory tracking algorithm.

Keywords

mobile robots; motion estimation; observers; target tracking; variable structure systems; mobile robots; nonlinear trajectory tracking; observer; second-order sliding mode control theory; target acceleration estimation; target tracking; tracking math model kinematics; wheeled mobile robot; Acceleration; Algorithm design and analysis; Kinematics; Mobile robots; Sliding mode control; Target tracking; Trajectory; Uncertainty; Velocity control; Wheels; mobile robot; observer; second-order; sliding mode control; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522332

Filename

4522332