Discrete-time sliding mode path-tracking control for a wheeled mobile robot

被引：17
|
作者：
Nino-Suarez, P. A. [1 ]
Aranda-Bricaire, E. [1 ]
Velasco-Villa, M. [1 ]
机构：
[1] CINVESTAV, IPN, Dept Ingn Elect, Secc Mecatron, Mexico City 07300, DF, Mexico
来源：
PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年
关键词：
D O I：
10.1109/CDC.2006.376796
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 work, it is presented a discrete time control strategy for the solution of the path-tracking problem for a wheeled mobile robot of the type (2,0). It is assumed that the mobile robot is remotely controlled over a communication network that induces a transport delay. The exact discrete-time model of the mobile robot including the induced delay is developed. It is presented a discrete-time strategy control based on a sliding mode approach that allows to solve the path-tracking problem. The closed loop stability of the overall system is clearly stated. The proposed control strategy is evaluated by mean of computer simulation.
引用
收藏
页码：3052 / 3057
页数：6
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