Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots

Chih Yang Chen, Tzuu Hseng S. Li, Ying Chieh Yeh, Cha Cheng Chang

Research output: Contribution to journalArticlepeer-review

136 Citations (Scopus)

Abstract

This paper designs an adaptive sliding-mode dynamic controller for wheeled mobile robots to implement the trajectory-tracking mission. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, although the wheeled mobile robot is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes. Finally, the real-time experiments of the adaptive sliding-mode dynamic controller on the test ground demonstrate the feasibility of practical wheeled mobile robot maneuvers.

Original languageEnglish
Pages (from-to)156-166
Number of pages11
JournalMechatronics
Volume19
Issue number2
DOIs
Publication statusPublished - 2009 Mar

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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