Title :
Trajectory tracking with a hybrid control applied to a bi-steerable car
Author :
Tchenderli-Braham, S.A. ; Hamerlain, F.
Author_Institution :
Centre de Dev. des Technol. Av. (CDTA), Lab. de Robot., Algiers, Algeria
Abstract :
In this paper we propose to solve the problem of stability and robustness for a trajectory tracking control applied to a bi-steerable mobile robot (Bis-Car) by using a discontinuous hybrid control law. This control is developed from the principles of methods of classic sliding mode and Backstepping. The robustness and the applicability of this control law are shown by simulation and experimentation results.
Keywords :
automobiles; control system synthesis; mobile robots; path planning; robust control; steering systems; trajectory control; variable structure systems; Bis-Car; backstepping methods; bisteerable car; bisteerable mobile robot; discontinuous hybrid control law; hybrid control; robustness problem; sliding mode methods; stability problem; trajectory tracking control; Backstepping; Kinematics; Lyapunov methods; Mobile robots; Trajectory; Backstepping; Bi-Steerable Car; Sliding mode; Trajectory tracking; Wheeled Mobile Robot;
Conference_Titel :
Systems and Computer Science (ICSCS), 2013 2nd International Conference on
Conference_Location :
Villeneuve d´Ascq
Print_ISBN :
978-1-4799-2020-4
DOI :
10.1109/IcConSCS.2013.6632056
