Paper Title:
A New Tracking Control Algorithm for Mobile Robots
  Abstract

This paper presents a new trajectory tracking control algorithm to uncertain mobile robot with nonholonomic constraints. This algorithm is based on the non-singular terminal sliding mode technique, which can eliminate the singularity problem caused by conventional terminal sliding mode control. The proposed control laws enable the mobile robots track the desired trajectory in finite time when the desired rotate velocities are nonzero. Simulation results show the effectiveness of the algorithm.

  Info
Periodical
Key Engineering Materials (Volumes 426-427)
Edited by
Dunwen Zuo, Hun Guo, Guoxing Tang, Weidong Jin, Chunjie Liu and Chun Su
Pages
202-205
DOI
10.4028/www.scientific.net/KEM.426-427.202
Citation
Y. H. Zhao, R. F. Chen, "A New Tracking Control Algorithm for Mobile Robots", Key Engineering Materials, Vols. 426-427, pp. 202-205, 2010
Online since
January 2010
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Price
$32.00
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