Nonlinear Tracking Control of a Wheeled Mobile Robot

被引：0
作者：
Zidani, Ghania [1 ]
Drid, Said [2 ]
Chrifi-Alaoui, Larbi [3 ]
Arar, Djemai [2 ]
Bussy, Pascal [3 ]
机构：
[1] Univ Kasdi Merbah Ouargla, Dept Elect Engn, Ouargla 30000, Algeria
[2] Univ Batna, Lab LSP IE, Rue Chahid Med El Hadi Boukhlof, Batna 05000, Algeria
[3] Univ Picardie Jules Verne, Dept Genie Elect & Infonnat Ind, LTI, Cuffies, Soissons, France
来源：
201415th International Conference on Sciences & Techniques of Automatic Control & Computer Engineering (STA'2014) | 2014年
关键词：
wheeled mobile robot; Lyapunov method; dynamic control; kinematic control; adaptive tracking control; NEURAL-NETWORKS;
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 investigates the problem of trajectory tracking for nonholonomic wheels mobile robots. Constraints nonholonomic that arise in this type of robot, and the uncertainties in the system parameters and disturbances present difficulties and problems in trajectory tracking of mobile wheeled robots, which limits the region of application. To solve this problem, a nonlinear controller based on Lyapunov theory associated with sliding mode control is developed. The simulation results show the tracking performance of the proposed control.
引用
收藏
页码：325 / +
页数：6
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