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Experimental tests of a sliding mode controller for trajectory tracking of a car-like mobile robot

Faiza Hamerlain 1 Thierry Floquet 2, 3 Wilfrid Perruquetti 2, 4
1 CDTA - Centre de Développement des Technologies Avancées
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
3 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
4 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This paper deals with the problem of the practical tracking control of an experimental car-like system called the Robucar. The car-like Robucar is a four-wheeled car in a single steering mode. Based on a kinematic model of the car-like Robucar, a practical tracking controller is designed using the second-order sliding mode control of the super twisting algorithm. Hence, the output tracking of the desired trajectory is achieved, and the tracking errors vanish asymptotically. Experimental tests on the car-like Robucar are presented for simple and real-time nonholonomic trajectories, and comparative results with the conventional sliding controller demonstrate the applicability and efficiency of the proposed controller.
Keywords : Wheeled mobile robot higher order sliding mode trajectory tracking kinematic control robucar
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Journal articles
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https://hal.inria.fr/hal-00924745
Contributor : Thierry Floquet Connect in order to contact the contributor
Submitted on : Tuesday, January 7, 2014 - 10:42:28 AM
Last modification on : Thursday, June 3, 2021 - 4:28:03 PM

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CNRS | INRIA | LAGIS | CRISTAL-SYNER | CRISTAL | UNIV-LILLE

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Faiza Hamerlain, Thierry Floquet, Wilfrid Perruquetti. Experimental tests of a sliding mode controller for trajectory tracking of a car-like mobile robot. Robotica, Cambridge University Press, 2014, 32 (1), pp.63-76. ⟨10.1017/S0263574713000623⟩. ⟨hal-00924745⟩

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