Sliding-mode real-time mobile platform control in the presence of uncertainties

被引：8
作者：
Solea, Razvan [1 ]
Filipescu, Adrian [1 ]
Stamatescu, Grigore [2 ]
机构：
[1] Univ Dunarea de Jos Galati, Dept Automat & Ind Informat, 111 Domneasca, Galati 800201, Romania
[2] Univ Politehn Bucuresti, Fac Automat & Comp, Bucharest, Romania
来源：
PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年
关键词：
TRAJECTORY-TRACKING; STABILIZATION; SYSTEMS; ROBOTS;
D O I：
10.1109/CDC.2009.5399667
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 paper, a new sliding-mode trajectory-tracking wheeled mobile robots (WMR) control is proposed. Dynamic model with uncertainties parameters (unknown or time varying mass and moment of inertia) of the WMR is taken into account. Robust stability depending on upper bound uncertainties, is guaranteed. A mobile platform, PatrolBot, with two driving wheels and two rear wheels is used in order to check proposed sliding-mode control. Closed-loop real-time control results are supplied. Good trajectory-tracking performances (small position and orientation errors) in the presence of external disturbances are obtained.
引用
收藏
页码：7747 / 7752
页数：6
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