Control of Mobile Robot for Trajectory Tracking by Sliding Mode Control Technique

被引：0

作者：

Sharma, Ankit ^{[1
]}

Panwar, Vikas ^{[1
]}

机构：

[1] Gautam Buddha Univ, Dept Appl Math, Greater Noida, India

来源：

2016 INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS, AND OPTIMIZATION TECHNIQUES (ICEEOT) | 2016年

关键词：

Lagrangian multiplier; Lagrangian function; Gain matrix and Norm of matrix;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this paper sliding mode controller is presented for the trajectory tracking by wheel mobile robot. Kinematic and dynamic model of mobile robot are derived using Lagrangian formulation. To achieve the desired trajectory tracking an auxiliary velocity controller is proposed based on the available error between the auxiliary velocity and actual velocity of wheel mobile robot. Sliding mode controller is proposed to produce the required torque signal at the wheels of mobile robot. The overall controller is shown to be asymptotically stable using Lyapunov stability theory. The errors of the system are shown to converge to zero. Finally the simulation result are presented to validate the proposed controller.

引用

页码：3988 / 3994

页数：7

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