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 |
| Event | 8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan Duration: 2011 May 15 → 2011 May 18 |
Other
| Other | 8th Asian Control Conference, ASCC 2011 |
|---|---|
| Country | Taiwan |
| City | Kaohsiung |
| Period | 11-05-15 → 11-05-18 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Cite this
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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 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
Y1 - 2011
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
SP - 765
EP - 770
BT - ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
ER -