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
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