Name
Abstract | ||
|---|---|---|
This paper presents a trajectory tracking control scheme for a two-wheeled mobile robot using sliding mode techniques. The stability of the designed sliding mode dynamics is analysed and reachability of the sliding mode is guaranteed in a given region with the proposed controller. A robot system including a micro-controller, the Arduino Due based on the ARM Cortex-M3, is used to implement the proposed control algorithm. Two DC motors controlled by PWM signals are used as actuators to implement the proposed feedback control. Simulation results are presented and compared with the results of practical experiments. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1504/IJMIC.2017.10003912 | INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL |
Keywords | Field | DocType |
sliding mode control, trajectory tracking, non-holonomic systems, mobile robot | Robot control,Control theory,Control theory,Pulse-width modulation,Control engineering,DC motor,Trajectory,Mathematics,Mobile robot,Sliding mode control,Actuator | Journal |
Volume | Issue | ISSN |
27 | 2 | 1746-6172 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jianqiu Mu | 1 | 5 | 1.44 |
| xinggang yan | 2 | 471 | 46.12 |
| sarah k spurgeon | 3 | 724 | 71.21 |
| Zehui Mao | 4 | 192 | 20.36 |