Sliding mode control of a nonholonomic wheeled mobile robot for trajectory tracking

被引：0
|
作者：
Yang, JM [1 ]
Choi, IH [1 ]
Kim, JH [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn, Yusong Gu, Taejon 305701, South Korea
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we propose a tracking control of a nonholonomic wheeled mobile robot using variable structure systems. The posture of the mobile robot is represented by polar coordinates and a sliding mode control algorithm is presented for asymptotically stabilizing the mobile robot to a desired trajectory It is shown that the proposed scheme is robust to system perturbations and measurement errors. Simulation and experimental results confirm the validity of accurate tracking capability and the robust performance of the proposed scheme.
引用
收藏
页码：2983 / 2988
页数：4
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