Discrete-time Sliding-mode Wmr Control Based on Parameter Identification
نویسندگان
چکیده
In this paper a discrete-time adaptive sliding mode controller for wheeled mobile robots (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mode controller has designed on two components, corresponding to angular and position motion, respectively. In order to accomplish the robustness against parameter uncertainties (robot mass and moment of inertia), an on-line closed loop identification scheme is proposed. In both, angular and position motion controllers, on-line estimation of parameters, which depend on robot mass, is used. Copyright © 2005 IFAC
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تاریخ انتشار 2005