Higher order sliding modes in collaborative robotics

被引：0
|
作者：
Defoort M. [1 ,2 ]
Floquet T. [3 ,4 ]
Kökösy A.-M. [5 ,6 ]
Perruquetti W. [3 ,4 ]
机构：
[1] Univ Lille Nord de France
[2] LAMIH, CNRS, UVHC
[3] LAGIS, CNRS, Ecole Centrale de Lille, 59651 Villeneuve-d'Ascq Cedex
[4] Project ALIEN, INRIA Lille - Nord Europe
[5] ISEN, 59 046 Lille Cedex
[6] LAGIS, CNRS, Cité Scientifique BP 48, 59651 Villeneuve-d'Ascq, Cedex
来源：
Lecture Notes in Control and Information Sciences | 2011年 / 412卷
关键词：
D O I：
10.1007/978-3-642-22164-4_15
中图分类号：
学科分类号：
摘要：
In this chapter, a scheme for real time motion planning and robust control of a swarm of nonholonomic mobile robots evolving in an uncertain environment is derived. This scheme consists of two main parts: (i) a real time collision-free motion planner; (ii) a trajectory tracking controller. In implementation, the motion planner dynamically generates the optimal trajectory while the robot runs. High precision motion tracking is achieved by the design of a higher order sliding mode controller based on geometric homogeneity properties. Experimental investigations have been conducted using several test benchmarks of mobile robots in order to demonstrate the effectiveness of the proposed strategy. © 2011 Springer-Verlag Berlin Heidelberg.
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页码：409 / 437
页数：28
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