Practical stabilization and tracking of a wheeled mobile robot with integral sliding mode controller - Archive ouverte HAL
Communication Dans Un Congrès Année : 2007

Practical stabilization and tracking of a wheeled mobile robot with integral sliding mode controller

Résumé

This paper is dedicated to the robust stabilization and tracking problems for a wheeled mobile robot. After the mobile robot dynamics have been transformed into an advantageous form, a robust integral sliding mode controller is designed to promulgate a practical stabilization in spite of the uncertainties. The performance of the proposed controller is experimentally demonstrated on a real robot.
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Dates et versions

hal-00731762 , version 1 (13-09-2012)

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Michael Defoort, Jorge Palos, Thierry Floquet, Anne-Marie Kokosy, Wilfrid Perruquetti. Practical stabilization and tracking of a wheeled mobile robot with integral sliding mode controller. IEEE Conference on Decision and Control, Dec 2007, New Orleans, LA United States. ⟨10.1109/CDC.2007.4434134⟩. ⟨hal-00731762⟩
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