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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A New Sliding-Surface-Based Tracking Control of Nonholonomic Mobile Robots

새로운 슬라이딩 표면에 기반한 비홀로노믹 이동 로봇의 추종 제어

  • 박봉석 (연세대학교 전기전자공학과) ;
  • 유성진 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학과) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Published : 2008.08.01
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Abstract

This paper proposes a new sliding-surface-based tracking control system for nonholonomic mobile robots with disturbance. To design a robust controller, we consider the kinematic model and the dynamic model of mobile robots with disturbance. We also propose a new sliding surface to solve the problem of previous study. That is, since the new sliding surface is composed of differentiable functions unlike the previous study, we can obtain the control law for arbitrary trajectories without any constraints. From the Lyapunov stability theory, we prove that the position tracking errors and the heading direction error converge to zero. Finally, we perform the computer simulations to demonstrate the performance of the proposed control system.

Keywords

References

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  2. Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates vol.13, pp.3, 2015, https://doi.org/10.1007/s12555-014-0024-5