DocumentCode :
551182
Title :
Discrete-time sliding-mode control of four driving-steering wheels autonomous vehicle
Author :
Bogdan, D. ; Adrian, Filipescu ; Viorel, Minzu ; Alina, Voda ; Eugenia, Minca
Author_Institution :
Dept. of Autom. & Electr. Eng., Univ. Dunarea de Jos of Galati, Galati, Romania
fYear :
2011
fDate :
22-24 July 2011
Firstpage :
3620
Lastpage :
3625
Abstract :
A discrete-time sliding-mode control for the trajectory tracking problem of four driving-steering wheels (4DW/SW) autonomous vehicle SEEKUR is presented in this paper. SEEKUR is a holonomic, all-wether, outdoor robot platform for outdoor security, inspection and research. SEEKUR´s unique shape and omni-directional steering allow truly holonomic movement. A discrete-time nonholonomic model of SEEKUR is used for the design of the controller, instead of the usual continuous-time model, thus avoiding problems caused by the discretization of the continuous-time controller. The effectiveness of the proposed controller is proven by simulation results.
Keywords :
continuous time systems; discrete time systems; mobile robots; variable structure systems; SEEKUR; continuous-time model; discrete-time nonholonomic model; discrete-time sliding-mode control; four driving-steering wheels autonomous vehicle; holonomic movement; omnidirectional steering; outdoor robot platform; outdoor security; trajectory tracking problem; Mobile robots; Sliding mode control; Tracking; Trajectory; Vehicles; Wheels; Discrete-time sliding-mode control; Nonholonomic; Trajectory tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
ISSN :
1934-1768
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
Type :
conf
Filename :
6001526
Link To Document :
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