Trajectory Tracking Nonlinear Control and Narrow Spaces Navigation of a WMR

被引：0

作者：

Solea, Razvan ^{[1
]}

Ciubucciu, George ^{[1
]}

Cernega, Daniela ^{[1
]}

Filipescu, Adrian ^{[1
]}

Voncila, Ion ^{[1
]}

机构：

[1] Dunarea de Jos Univ Galati, Dept Automat Control & Elect Engn, Galati, Romania

来源：

2018 22ND INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2018年

关键词：

Sliding Mode Control; Wheeled Mobile Robot; Trajectory-tracking Control; Real-time Implementation; SLIDING MODE CONTROL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper is presented the movement control job of a wheeled mobile robot consisting in two tasks. The first task is to solve the nonlinear control for the trajectory tracking problem in presence of uncertainties. This task is solved using a new enhanced Sliding Mode Control law with a saturation component to reduce the chattering phenomenon and to force the reaching time of the sliding surface in presence of disturbances and uncertainties. The second task is to precise move the wheeled mobile robot movement through narrow spaces like doors. This task is accomplished using a proposed laser based narrow space driving algorithm. The real-time experiment of the movement control job is also presented.

引用

页码：329 / 334

页数：6

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