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.
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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 -