Title :
Nonlinear tracking control of a wheeled mobile robot
Author :
Zidani, Ghania ; Drid, Said ; Chrifi-Alaoui, Larbi ; Arar, Djemai ; Bussy, Pascal
Author_Institution :
Electr. Eng. Dept., Univ. of Kasdi Merbah Ouargla, Algeria
Abstract :
This paper investigates the problem of trajectory tracking for nonholonomic wheels mobile robots. Constraints nonholonomic that arise in this type of robot, and the uncertainties in the system parameters and disturbances present difficulties and problems in trajectory tracking of mobile wheeled robots, which limits the region of application. To solve this problem, a nonlinear controller based on Lyapunov theory associated with sliding mode control is developed. The simulation results show the tracking performance of the proposed control.
Keywords :
Lyapunov methods; mobile robots; nonlinear control systems; variable structure systems; Lyapunov theory; nonholonomic wheels mobile robots; nonlinear tracking control; sliding mode control; trajectory tracking; wheeled mobile robot; Kinematics; Mathematical model; Mobile robots; Robot kinematics; Trajectory; Wheels; Lyapunov method; adaptive tracking control; dynamic control; kinematic control; wheeled mobile robot;
Conference_Titel :
Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2014 15th International Conference on
DOI :
10.1109/STA.2014.7086727
