Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot

Sho Tsung Kao; Wan Jung Chiou; Ming Tzu Ho

Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot

Sho Tsung Kao, Wan Jung Chiou, Ming Tzu Ho

Department of Engineering Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 Citations (Scopus)

Abstract

This paper considers the problem of trajectory tracking control of an omnidirectional mobile root. First, the dynamic model of an omnidirectional mobile robot is derived to facilitate the control design. In the controller design, state feedback is used to linearize the system. Based on the linearized system, integral sliding mode control is then designed for trajectory tracking control. This control strategy is robust to model uncertainties and exogenous disturbances. The designed control laws are implemented and tested on an experimental setup. The effectiveness of the control scheme is demonstrated through simulation and experimental studies, and is compared with the well-tuned PID control. It is shown that the control system with the integral sliding mode controller has better tracking performance.

Original language	English
Title of host publication	ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Pages	765-770
Number of pages	6
Publication status	Published - 2011 Aug 29
Event	8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan Duration: 2011 May 15 → 2011 May 18

Publication series

Name	ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Other

Other	8th Asian Control Conference, ASCC 2011
Country	Taiwan
City	Kaohsiung
Period	11-05-15 → 11-05-18

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Access to Document

Fingerprint Dive into the research topics of 'Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot'. Together they form a unique fingerprint.

Cite this

@inproceedings{658fc1f6a44f4ec6b6b288d3095ff169,

title = "Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot",

abstract = "This paper considers the problem of trajectory tracking control of an omnidirectional mobile root. First, the dynamic model of an omnidirectional mobile robot is derived to facilitate the control design. In the controller design, state feedback is used to linearize the system. Based on the linearized system, integral sliding mode control is then designed for trajectory tracking control. This control strategy is robust to model uncertainties and exogenous disturbances. The designed control laws are implemented and tested on an experimental setup. The effectiveness of the control scheme is demonstrated through simulation and experimental studies, and is compared with the well-tuned PID control. It is shown that the control system with the integral sliding mode controller has better tracking performance.",

author = "Kao, {Sho Tsung} and Chiou, {Wan Jung} and Ho, {Ming Tzu}",

year = "2011",

month = aug,

day = "29",

language = "English",

isbn = "9788995605646",

series = "ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings",

pages = "765--770",

booktitle = "ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings",

note = "8th Asian Control Conference, ASCC 2011 ; Conference date: 15-05-2011 Through 18-05-2011",

}

Kao, ST, Chiou, WJ & Ho, MT 2011, Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot. in ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings., 5899168, ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings, pp. 765-770, 8th Asian Control Conference, ASCC 2011, Kaohsiung, Taiwan, 11-05-15.

Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot. / Kao, Sho Tsung; Chiou, Wan Jung; Ho, Ming Tzu.

ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings. 2011. p. 765-770 5899168 (ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot

AU - Kao, Sho Tsung

AU - Chiou, Wan Jung

AU - Ho, Ming Tzu

PY - 2011/8/29

Y1 - 2011/8/29

N2 - This paper considers the problem of trajectory tracking control of an omnidirectional mobile root. First, the dynamic model of an omnidirectional mobile robot is derived to facilitate the control design. In the controller design, state feedback is used to linearize the system. Based on the linearized system, integral sliding mode control is then designed for trajectory tracking control. This control strategy is robust to model uncertainties and exogenous disturbances. The designed control laws are implemented and tested on an experimental setup. The effectiveness of the control scheme is demonstrated through simulation and experimental studies, and is compared with the well-tuned PID control. It is shown that the control system with the integral sliding mode controller has better tracking performance.

AB - This paper considers the problem of trajectory tracking control of an omnidirectional mobile root. First, the dynamic model of an omnidirectional mobile robot is derived to facilitate the control design. In the controller design, state feedback is used to linearize the system. Based on the linearized system, integral sliding mode control is then designed for trajectory tracking control. This control strategy is robust to model uncertainties and exogenous disturbances. The designed control laws are implemented and tested on an experimental setup. The effectiveness of the control scheme is demonstrated through simulation and experimental studies, and is compared with the well-tuned PID control. It is shown that the control system with the integral sliding mode controller has better tracking performance.

UR - http://www.scopus.com/inward/record.url?scp=80051971937&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80051971937&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:80051971937

SN - 9788995605646

T3 - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

SP - 765

EP - 770

BT - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

T2 - 8th Asian Control Conference, ASCC 2011

Y2 - 15 May 2011 through 18 May 2011

ER -