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.

• Periodical: Key Engineering Materials (Volumes 426-427)
• Pages: 202-205
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.426-427.202
• Online since: January 2010
• Authors: Yi Hong Zhao, Rong Fa Chen
• Keywords: Mobile Robot, Nonholonomic System, Terminal Sliding Mode, Trajectory Tracking

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