Variable Structure
نویسندگان
چکیده
of Nonholonomic Wheeled Mobile Robot Hyun-Sik Shim Jong-Hwan Kim Kwangill Koh Dept. of Elec. Eng. Dept. of Elec. Eng. KAIST KAIST LG Industrial Systems Co., Ltd. Taejoen-shi, 305-701, Korea Taejoen-shi, 305-701, Korea Kyongki-do, 430-080, Korea [email protected] [email protected] [email protected] Abstract A variable structure controller(VSC) for a nonholonomic wheeled mobile robot is proposed for tracking desired trajectories. Although the matching condition for VSC is not satis ed due to nonholonomic property of the robot having two drive wheels, the proposed algorithm guarantees bounded tracking errors by choosing the sliding surface gain properly. Yet the robot tracks its given trajectory without error if there is no initial posture and velocity errors. Simulation results show the e ectiveness of the proposed controller.
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