Discrete-time sliding mode control for the path tracking of a mobile robot

被引：0
作者：
Niño-Suárez, P.A. [1 ,2 ]
Aranda-Bricaire, E. [1 ,2 ]
Velasco-Villa, M. [1 ,2 ]
机构：
[1] CINVESTAV-IPN, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, 07000, México DF
[2] CINVESTAV-IPN, Electrical Engineering Department, Mechatronics Section, 07000 Mexico, DF
来源：
RIAI - Revista Iberoamericana de Automatica e Informatica Industrial | 2007年 / 4卷 / 04期
关键词：
Discrete-time control; Mobile robot; Sliding modes; Transport delay;
D O I：
10.1016/s1697-7912(07)70242-x
中图分类号：
学科分类号：
摘要：
A discrete-time sliding mode controller is presented which solves the path tracking problem for a remotely controlled wheeled mobile robot. The control strategy is based on the exact discrete-time model of the mobile robot, including the transport delay induced by the communication network. The proposed controller guarantees asymptotic convergence of the tracking errors. The performance of the controller is evaluated through numerical simulation. Copyright © 2007 CEA-IFAC.
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页码：31 / 38+130
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