Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots

Chih Yang Chen, Tzuu Hseng S. Li, Ying Chieh Yeh, Cha Cheng Chang

研究成果: Article同行評審

152 引文 斯高帕斯(Scopus)

摘要

This paper designs an adaptive sliding-mode dynamic controller for wheeled mobile robots to implement the trajectory-tracking mission. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, although the wheeled mobile robot is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes. Finally, the real-time experiments of the adaptive sliding-mode dynamic controller on the test ground demonstrate the feasibility of practical wheeled mobile robot maneuvers.

原文English
頁(從 - 到)156-166
頁數11
期刊Mechatronics
19
發行號2
DOIs
出版狀態Published - 2009 三月

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 機械工業
  • 電腦科學應用
  • 電氣與電子工程

指紋

深入研究「Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots」主題。共同形成了獨特的指紋。

引用此