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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Double Sliding Surfaces based on a Sliding Mode Control for a Tracking Control of Mobile Robots

이동 로봇의 추종 제어를 위한 이중 슬라이딩 표면에 기반한 슬라이딩 모드 제어

  • Lee, Jun Ku (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University) ;
  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University)
  • 이준구 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학과) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Received : 2013.01.21
  • Accepted : 2013.04.18
  • Published : 2013.06.01
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Abstract

This paper proposes a double sliding surfaces based on a sliding mode control for a tracking control of nonholonomic mobile robots in the Cartesian coordinates. In order to remove sliding surface constraints, we design the additional sliding surface for the heading angle with respect to the newly defined coordinates. Then, we define the switching law based on the posture error to combine the designed sliding surface with the previous one. By using the double sliding surfaces and the switching law, we obtain the control law for arbitrary trajectories. It is proved that the position tracking error and the heading direction error asymptotically converge to zero, respectively, with the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

Keywords

References

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