Sliding-Mode Control for Trajectory-Tracking of a Wheeled Mobile Robot in Presence of Uncertainties

被引：0
|
作者：
Solea, Razvan [1 ]
Filipescu, Adrian [1 ]
Nunes, Urbano [2 ]
机构：
[1] Dunarea de Jos Univ Galati, Fac Comp Sci, Galati 800201, Romania
[2] Univ Coimbra, Inst Syst Robot, Coimbra 3030 290, Portugal
来源：
ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, VOLS 1-3 | 2009年
关键词：
STABILIZATION;
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：
Wheeled Mobile Robots (WMRs) are the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers and energy saving characteristics. A dynamics-based sliding mode controller for WMR trajectory-tracking is proposed. Robustness to external disturbances and parameter uncertainties is achieved. Closed loop real-time results show good performances in trajectory tracking even if for high upper bound of uncertainties.
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页码：1701 / 1706
页数：6
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