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

Sho Tsung Kao, Wan Jung Chiou, Ming Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Pages765-770
Number of pages6
Publication statusPublished - 2011 Aug 29
Event8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan
Duration: 2011 May 152011 May 18

Publication series

NameASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Other

Other8th Asian Control Conference, ASCC 2011
CountryTaiwan
CityKaohsiung
Period11-05-1511-05-18

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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