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Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties
Joint Authors
Bessas, Aicha
Benalia, Atallah
Boudjema, Farès
Source
Journal of Control Science and Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-05-30
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
Wheeled mobile robots present a typical case of complex systems with nonholonomic constraints.
In the past few years, the dominance of these systems has been a very active research field.
In this paper, a new method based on an integral sliding mode control for the trajectory tracking of wheeled mobile robots is proposed.
The controller is designed to solve the reaching phase problem with the elimination of matched disturbances and minimize the unmatched one.
We distinguish two parts in the suggested controller: a high-level controller to stabilize the nominal system and a discontinuous controller to assess the trajectory tracking in the presence of disturbances.
This controller is robust during the entire motion.
The effectiveness of the proposed controller is demonstrated through simulation studies for the unicycle with matched and unmatched disturbances.
American Psychological Association (APA)
Bessas, Aicha& Benalia, Atallah& Boudjema, Farès. 2016. Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties. Journal of Control Science and Engineering،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1107927
Modern Language Association (MLA)
Bessas, Aicha…[et al.]. Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties. Journal of Control Science and Engineering No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1107927
American Medical Association (AMA)
Bessas, Aicha& Benalia, Atallah& Boudjema, Farès. Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties. Journal of Control Science and Engineering. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1107927
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1107927