Nonlinear sliding mode control of a two-wheeled mobile robot system
نویسندگان
چکیده
منابع مشابه
Design of Single-Wheeled Mobile Robot Sliding Mode Control
This paper is to design a single round of mobile robot nonlinear control systems, content combined with dynamic feedback linearization and sliding mode control technology, under certain frame design a non-singular control method. The study design process in the phase trajectory passing through the two subsystems in a single round of planning the actual trajectory of the mobile robot, designed p...
متن کاملWheeled Mobile Robot Trajectory Tracking using Sliding Mode Control
Corresponding Author: Azza El-Sayed Bayoumi Ibrahim Department of Computers and Systems, Electronics Research Institute, Giza, Egypt Email: [email protected] Abstract: This paper introduces and discusses a control strategy for nonholonomic wheeled mobile robots. The models of the robots include the kinematic and dynamic equations of motion. Trajectory tracking control problem of parallel wheeled ...
متن کاملSliding Mode Robust Control for Two-wheeled Mobile Robot with Lower Center of Gravity
Two-wheeled mobile robots (2WMRs) with lower center of gravity exhibit more practicality and operability because their mass center locates on the bottom of the configuration center. By analyzing motion behaviors of the vehicle body, we present the underactuated property and give the dynamics equation of this kind of robot. The system matrices and nonholonomic constraint change drastically becau...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملReal-time Sliding-mode Adaptive Control of a Mobile Platform Wheeled Mobile Robot
This paper presents parameter identification and discrete-time adaptive slidingmode controller applied to control the mobile platform Pioneer 3-DX wheeled mobile robot (WMR) with 5-DOF manipulator. The dynamic model for mobile robot with two driving wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been use...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Modelling, Identification and Control
سال: 2017
ISSN: 1746-6172,1746-6180
DOI: 10.1504/ijmic.2017.082943