Adaptive Sliding Mode for the Control of a Wheeled Mobile Robot

被引：0
|
作者：
Tchenderli-Baham, S. A. [1 ]
Hamerlain, F. [1 ]
Saadia, N. [2 ]
机构：
[1] CDTA, Ctr Dev Technol Avancees, Div Prod & Robot, Algiers, Algeria
[2] USTHB, Algiers, Algeria
来源：
2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2015年
关键词：
Adaptive sliding modes; chattering; wheeled mobile robot; trajectory tracking;
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 work deals with the trajectory tracking control problem for a kind of underactuated wheeled mobile robots: car with a double steering mode (Bis-Car). The control law is designed using an adaptive sliding mode control (ASMC) in order to achieve a robust control while avoiding the chatter effect engendered by sliding modes and the overestimation of the control gain. Among existing methods of ASMC, we use in this paper the equivalent control based adaptive gain method. Simulation results show the effectiveness of this method applied on a complex system.
引用
收藏
页码：699 / 703
页数：5
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