Dynamic Analysis and Quasi-Sliding Mode Control of Mobile Robot

Hong Mei Wang; Ming Lu Zhang; Guang Zhu Meng

doi:10.4028/www.scientific.net/AMR.433-440.3168

Paper Titles

Sphericity Evaluation Based on Minimum Circumscribed Sphere Method
p.3146

Computer Aided Understanding for Interaction between Stratified Slope and Bolt
p.3152

Geometry Information Extraction from the STEP Neutral File
p.3158

Design for Green Cost of New Type Endless Rope Winch Based on LCC
p.3163

Dynamic Analysis and Quasi-Sliding Mode Control of Mobile Robot
p.3168

Integrated Navigation of Mobile Robot Based on Neural Network and Fault Detection
p.3175

Quasi-Sliding Mode Control for Single Inverted Pendulum System
p.3181

Vehicle Occlusion Detection and Segment Based on Windows
p.3186

A Research of BP Neural Network Based on Dynamics for Robot Manipulator
p.3192

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 433-440Dynamic Analysis and Quasi-Sliding Mode Control of...

Dynamic Analysis and Quasi-Sliding Mode Control of Mobile Robot

Abstract:

To avoid the chattering disadvantage of sliding-mode control (SMC), in this paper, a quasi-sliding mode controller is proposed for real-time fine control of a nonholonomic mobile robot. First, the dynamics of mobile robot is analyzed by Lagrangian formula. Then, the quasi-sliding mode controller is used to generate the control torque that drives the mobile robot, such that the linear and angular velocities of the mobile robot follow the desired velocities. At last, computer simulation results confirm the effectives of SMC.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 433-440)

Pages:

3168-3174

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.433-440.3168

Citation:

Cite this paper

Online since:

January 2012

Authors:

Hong Mei Wang, Ming Lu Zhang, Guang Zhu Meng

Keywords:

Dynamic, Nonholonamic, Quasi-Sliding Model Control, Trajectory Tracking

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] RH Middleton, GC Goodwin, Adaptive Computed torque control for rigid link manipulations. Systems&control letters, 1988, 10(1), pp.9-16.

DOI: 10.1016/0167-6911(88)90033-3

Google Scholar

[2] Corradini ML, Orlando G, Control of mobile robots with uncertainties in the dynamic model: a discrete time sliding mode approach with experimental results. Control Eng Prac. 2002; 10(1): p.23–34.

DOI: 10.1016/s0967-0661(01)00109-5

Google Scholar

[3] Fierro R, Lewis F. L, Control of a nonholonomic mobile robot using neural networks [J], IEEE Trans on Neural Networks, 1998, 9 (4): 389-400.

DOI: 10.1109/72.701173

Google Scholar

[4] Horacio MA, Simon GG, Mobile robot path planning and tracking using simulated annealing and fuzzy logic control. Expert Syst Applicat 1998; 15: p.421–9.

DOI: 10.1016/s0957-4174(98)00055-4

Google Scholar

[5] Karunananth G Thanjavur Generic, Dynamic Modelling and Model-Based Trajectory Tracking Control of Wheeled Mobile Robots (WMRs)[D]. Montreal, Quebec, Canada: Applied Science at Concordia University, (1997).

Google Scholar

[6] Kukao T, Nakagawa H, Adachi N, Adaptive tracking control of nonholonomic mobile robot. IEEE Trans Robot Automat. Volume : 16, Issue: 5, 2000, p.609–615.

DOI: 10.1109/70.880812

Google Scholar

[7] Kanayama Y, Kimura Y, Miyazaki F, and Noguchi T, A stable tracking control for an autonomous mobile robot[C]. IEEE Int. Conf. Robotics and Automation. Cincinnati. 1990, pp.384-389.

DOI: 10.1109/robot.1990.126006

Google Scholar

[8] Jinkun L, MATLAB Simulation for Sliding Mode Control. (2006).

Google Scholar

[9] Qionghui Y, Jiqi H, and Hansong W, Variable Structure Control System. (1995).

Google Scholar