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

13 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
Event8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan
Duration: 2011 May 152011 May 18

Other

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

Fingerprint

Sliding mode control
Mobile robots
Trajectories
Controllers
Three term control systems
State feedback
Dynamic models
Control systems

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Kao, S. T., Chiou, W. J., & Ho, M-T. (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 (pp. 765-770). [5899168]
Kao, Sho Tsung ; Chiou, Wan Jung ; Ho, Ming-Tzu. / Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot. ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings. 2011. pp. 765-770
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Kao, ST, Chiou, WJ & Ho, M-T 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, 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.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kao ST, Chiou WJ, Ho M-T. Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot. In ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings. 2011. p. 765-770. 5899168