Mobile Robot Trajectory Tracking Using Terminal Sliding Mode Control

被引：0
|
作者：
Benaziza, W. [1 ]
Slimane, N. [1 ]
Mallem, A. [1 ]
机构：
[1] Univ Batna, Adv Elect Dept, Batna, Algeria
来源：
2017 6TH INTERNATIONAL CONFERENCE ON SYSTEMS AND CONTROL (ICSC' 17) | 2017年
关键词：
Mobile robot; trajectory tracking; terminal sliding mode; quasi sliding mode; Lyapunov stability; STABILIZATION; SYSTEMS;
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, an approach of trajectory tracking is proposed. The approach is based on two controls. Firstly, a quasi sliding mode control is proposed of the angular velocity in aim to converge the angle error to zero in short time with asymptotic stability. Secondly, a global sliding mode control for linear velocity is proposed, in order to bring the position error to zero and ensure the asymptotic stability by using the Lyapunov theory. Finally, the proposed control shows the performance of the algorithm, and the simulation results show good convergence for circular, sinusoidal and specific trajectories.
引用
收藏
页码：538 / 542
页数：5
相关论文
共 50 条
  • [1] Tracking trajectory of a mobile robot using sliding mode control
    Sahloul, Samia
    Benhalima, Donia
    Rekik, Chokri
    [J]. 2018 15TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES (SSD), 2018, : 1386 - 1390
  • [2] Trajectory Tracking by Terminal Sliding Mode Control for a Three-Wheeled Mobile Robot
    Shao, Jia-Xin
    Zhao, Yu-Dong
    Kim, Dong-Eon
    Lee, Jang-Myung
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT III, 2017, 10464 : 215 - 225
  • [3] Mobile Robot Trajectory Tracking Using PID Fast Terminal Sliding Mode Inverse Dynamic Control
    Mallem, Ali
    Nourredine, Slimane
    Benazizl, Walid
    [J]. 2016 4TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT), 2016,
  • [4] Hyperbolic Sliding Mode Trajectory Tracking Control of Mobile Robot
    Ding, Yaogang
    Liu, Chongxin
    Lu, Shengmin
    Zhu, Ziwei
    [J]. PROCEEDINGS OF THE 2018 3RD INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2018), 2018, 127 : 234 - 238
  • [5] TRAJECTORY TRACKING OF TWO WHEELS MOBILE ROBOT USING SLIDING MODE CONTROL
    Ghani, N. M. Abdul
    Yatim, N. I. Mat
    Azmi, N. A.
    [J]. PROCEEDINGS OF THE FOURTH GLOBAL CONFERENCE ON POWER CONTROL AND OPTIMIZATION, 2011, 1337 : 135 - 139
  • [6] Trajectory Tracking Control Of Omnidirectional Mobile Robot Using Sliding Mode Controller
    Pham Hung Kim Khanh
    Nguyen Thanh Trung
    Phuc Thinh Doan
    Nguyen Hung
    [J]. 2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013), 2013, : 1170 - 1175
  • [7] Control of Mobile Robot for Trajectory Tracking by Sliding Mode Control Technique
    Sharma, Ankit
    Panwar, Vikas
    [J]. 2016 INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS, AND OPTIMIZATION TECHNIQUES (ICEEOT), 2016, : 3988 - 3994
  • [8] Sliding mode control of a nonholonomic wheeled mobile robot for trajectory tracking
    Yang, JM
    Choi, IH
    Kim, JH
    [J]. 1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 2983 - 2988
  • [9] Trajectory tracking control for mobile robot based on the fuzzy sliding mode
    Xie Mu-jun
    Li Li-ting
    Wang Zhi-qian
    [J]. PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 2706 - 2709
  • [10] Adaptive integral-type terminal sliding mode control: Application to trajectory tracking for mobile robot
    Moudoud, Brahim
    Aissaoui, Hicham
    Diany, Mohammed
    [J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2023, 37 (03) : 603 - 616
12345