On the sliding mode control of wheeled mobile robots
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1938-1943
- https://doi.org/10.1109/icsmc.1994.400135
Abstract
In this article a robust multivariable sliding mode controller solution is proposed for the tracking problems associated to well known types of mobile robots. Differential flatness of the underlying nonlinear kinematics and dynamics of the robot is suitably exploited for the multivariable sliding controller synthesis tasks. Natural control input smoothing is shown to be provided by the sought decoupled nature of the closed loop system through dynamic compensation.Keywords
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