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

被引：17

作者：

Nino-Suarez, P. A. ^{[1
]}

Aranda-Bricaire, E. ^{[1
]}

Velasco-Villa, M. ^{[1
]}

机构：

[1] CINVESTAV, IPN, Dept Ingn Elect, Secc Mecatron, Mexico City 07300, DF, Mexico

来源：

PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年

关键词：

D O I：

10.1109/CDC.2006.376796

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work, it is presented a discrete time control strategy for the solution of the path-tracking problem for a wheeled mobile robot of the type (2,0). It is assumed that the mobile robot is remotely controlled over a communication network that induces a transport delay. The exact discrete-time model of the mobile robot including the induced delay is developed. It is presented a discrete-time strategy control based on a sliding mode approach that allows to solve the path-tracking problem. The closed loop stability of the overall system is clearly stated. The proposed control strategy is evaluated by mean of computer simulation.

引用

页码：3052 / 3057

页数：6

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