Sliding Mode Control in Engineering
Sliding Mode Control in Engineering
Brief Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems
Automatica (Journal of IFAC)
Evolutionary strategies used for the mobile robot trajectory tracking control
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Hybrid control structure for multi-robot formation
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
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The trajectory tracking control problem for the wheeled mobile robot is solved using the sliding mode control. The wheeled mobile robot is a nonlinear system. In this paper four control laws are modeled and the system performances are investigated. The sliding mode control laws for the trajectory tracking problem are simulated and then implemented on the PatrolBot Robot. The performances are analyzed in order to establish some rules. The analysis conclusions are based on the simulation results and on the real time implementation of the control laws on the PatrolBot Robot.