Practical stabilization and tracking of a wheeled mobile robot with integral sliding mode controller

被引：0
|
作者：
Defoort, M. [1 ]
Palos, J. [2 ]
Floquet, T. [1 ]
Kokosy, A. [2 ]
Perruquetti, W. [1 ]
机构：
[1] Ecole Cent Lille, LAGIS UMR CNRS 8146, BP 48, F-59651 Villeneuve Dascq, France
[2] ISEN, F-59046 Lille, France
来源：
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2007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：
This paper is dedicated to the robust stabilization and tracking problems for a wheeled mobile robot. After the mobile robot dynamics have been transformed into an advantageous form, a robust integral sliding mode controller is designed to promulgate a practical stabilization in spite of the uncertainties. The performance of the proposed controller is experimentally demonstrated on a real robot.
引用
收藏
页码：783 / 788
页数：6
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