DocumentCode
706488
Title
The tracking problem for a mobile robot: A sliding mode controller for the dynamical model
Author
Corradini, M. Letizia ; Leo, Tommaso ; Orlando, Giuseppe
Author_Institution
Dipt. di Ing. dell´Innovazione, Univ. di Lecce, Lecce, Italy
fYear
1999
fDate
Aug. 31 1999-Sept. 3 1999
Firstpage
964
Lastpage
968
Abstract
In this note, the tracking trajectory problem for a wheeled mobile base has been solved using the robot dynamical model. The proposed solution is based on sliding mode control. The asymptotic vanishing of the tracking errors has been theoretically proved, and simulation results have been reported, showing the effectiveness of the proposed control law.
Keywords
mobile robots; robot dynamics; tracking; variable structure systems; asymptotic vanishing; dynamical model; mobile robot; robot dynamical model; sliding mode controller; tracking errors; tracking problem; tracking trajectory problem; Mobile robots; Simulation; Sliding mode control; Trajectory; Vehicles; Dynamical Model; Mobile Robots; Nonholonomic Systems; Sliding Mode Control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1999 European
Conference_Location
Karlsruhe
Print_ISBN
978-3-9524173-5-5
Type
conf
Filename
7099432
Link To Document