Integral sliding mode control for trajectory tracking of a unicycle type mobile robot

Michael Defoort 1 Thierry Floquet 2, 3 Annemarie Kokosy 1, 4 Wilfrid Perruquetti 2, 3, 5
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper deals with the tracking control for nonholonomic mobile robots in the presence of matched and unmatched perturbations. The controller synthesis is based on the differential flatness property and integral sliding mode control. The wheel actuators dynamics are taken into account. It is shown that the proposed scheme provides satisfactory performances and is robust to bounded external disturbances. Simulations illustrate the results on a unicycle type mobile robot.
Document type :
Journal articles
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https://hal.inria.fr/hal-00762278
Contributor : Thierry Floquet <>
Submitted on : Thursday, December 6, 2012 - 5:43:06 PM
Last modification on : Friday, October 25, 2019 - 2:34:09 PM

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  • HAL Id : hal-00762278, version 1

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Michael Defoort, Thierry Floquet, Annemarie Kokosy, Wilfrid Perruquetti. Integral sliding mode control for trajectory tracking of a unicycle type mobile robot. Integrated Computer-Aided Engineering, IOS Press, 2006, 13 (3), pp.277-288. ⟨hal-00762278⟩

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