Sliding mode navigation control of an omnidirectional mobile robot

被引：0
|
作者：
Mtibaa, Nafissa [1 ]
Krichen, Najla [1 ]
Derbel, Nabil [1 ]
机构：
[1] Sfax Univ, CEM Lab, Natl Engineers Sch Sfax, Sfax, Tunisia
来源：
2019 19TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA) | 2019年
关键词：
omnidirectional mobile robot; navigation; conventional sliding mode control; integral proportional tuning;
D O I：
10.1109/sta.2019.8717291
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
the objective of this paper is to navigate an omnidirectional mobile robot from an initial point to a desired point with predefined direction with minimal error. For this reason, we apply the sliding mode control. Fundamentally, the conventional sliding mode control uses a switching control law to drive the nonlinear system trajectory onto a sliding surface in the system state space and to keep it on this surface. This leads to a chattering phenomenon. In order to overcome this problem, we develop the sliding mode control with a proportional integral (PI) tuning. Simulation results show the performances and the improvement of the second approach compared to the first one.
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页码：158 / 163
页数：6
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