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
fDate :
Aug. 31 1999-Sept. 3 1999
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;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
