Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Sliding Mode Control for Nonholonomic Dynamic Systems

비홀로노믹 동적 시스템을 위한 슬라이딩 모드 제어

  • 양정민 (대구가톨릭대학교 전자공학과)
  • Published : 2002.12.01
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Abstract

As nonholonomic dynamic systems have constraints imposed on motions that are not integrable, i.e., the constraints cannot be written as time derivatives of some functions of generalized coordinates, advanced techniques are needed for their control. In this paper, a sliding mode tracking control for nonholonomic dynamic systems is proposed. By introducing a general scheme of coordinate transformation, the state of nonholonomic systems is mapped into a bounded space and a robust controller for dynamic models of nonholonomic systems with input disturbances is designed using sliding mode control scheme. Simulation results of tacking control for a nonholonomic mobile robot with two actuated wheels are provided to show the effectiveness of the proposed controller.

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References

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