EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT

被引：0

作者：

Dib, Alaa ^{[1
]}

Siguerdidjane, Houria ^{[1
]}

机构：

[1] SUPELEC, Syst Sci E3S, F-91192 Gif Sur Yvette, France

来源：

ICINCO 2011: PROCEEDINGS OF THE 8TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 | 2011年

关键词：

Mobile Robot; Trajectory Tracking; Integral Sliding Mode; Nonholonomic systems; STABILIZATION; SYSTEMS; 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 paper addresses the trajectory tracking problem of a nonholonomic mobile robot. More precisely, we are interested in solving the problem of tracking a reference trajectory in presence of disturbances. A control strategy based on the Integral Sliding Mode is proposed combined with a state feedback linearization. While many studies have considered the kinematic model of the vehicle only, we have used both kinematic and dynamic models. The distinctive property of the proposed controller is its robustness of performance in the presence of uncertainties. To assess the quality of the proposed approach, we performed in addition to simulations the implementation of this controller on the robot Koala, a two-wheel differentially driven mobile robot. Lab work illustrates the real quality and efficiency of this control strategy.

引用

页码：445 / 450

页数：6

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