Sliding Mode Control for Omni-Directional Mobile Platform

被引：0
|
作者：
Song, Xiaodong [1 ]
Zheng, Weizhi [1 ]
Cao, Bihan [2 ]
机构：
[1] Beijing Inst Technol, Sch Aerosp Sci, Beijing 100081, Peoples R China
[2] Shenzhen Univ, Sch Mech & Elect & Control Engn, Shenzhen, Peoples R China
来源：
INTERNATIONAL CONFERENCE ON ELECTRONIC AND ELECTRICAL ENGINEERING (CEEE 2014) | 2014年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A kind of Mecanum-wheeled omni-directional mobile platform was researched in this paper, the kinematic and dynamic models of it were built, and the effects of the actual motion with load were added to the motors through the dynamic models. By using sliding mode variable structure control method, the speed and position sliding mode controller were designed. Simulink was used to establish the entire system, the simulation results verify the feasibility of the sliding mode variable structure control method, and it also provides an effective method for practical omni-directional mobile platform motion control.
引用
收藏
页码：657 / 664
页数：8
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