Integral sliding mode control for trajectory tracking of a unicycle type mobile robot

被引：0
|
作者：
Defoort, Michael
Floquet, Thierry
Kokosy, Annemarie
Perruquetti, Wilfrid
机构：
[1] Ecole Cent Lille, LAGIS UMR CNRS 8146, F-59651 Villeneuve Dascq, France
[2] Inst Super Elect N, F-59046 Lille, France
来源：
INTEGRATED COMPUTER-AIDED ENGINEERING | 2006年 / 13卷 / 03期
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper deals with the tracking control for nonholonomic mobile robots in the presence of matched and unmatched perturbations. The controller synthesis is based on the differential flatness property and integral sliding mode control. The wheel actuators dynamics are taken into account. It is shown that the proposed scheme provides satisfactory performances and is robust to bounded external disturbances. Simulations illustrate the results on a unicycle type mobile robot.
引用
收藏
页码：277 / 288
页数：12
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