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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dumitrascu, B. Filipescu, A. Vasilache, C. Minca, E. Filipescu, A. |
| Copyright Year | 2011 |
| Description | Author affiliation: Department of Automation and Electrical Engineering, University Dunarea de Jos of Galati, Romania (Dumitrascu, B.; Filipescu, A.; Vasilache, C.; Filipescu, A.) || Department of Automation, Computer Science and Electrical Engineering, University Valahia of Targoviste, Romania (Minca, E.) |
| Abstract | In this paper a discrete-time sliding mode controller for the trajectory tracking problem of four-driving-steering wheels (4DW/SW) mobile platform. Seekur is a holonomic, all-weather, outdoor robot platform for outdoor security, inspection and research. Seekur has an unique shape that combined with omni-directional steering allows truly holonomic movement. The discrete-time sliding mode controller has been designed using a discrete time nonholonomic model of Seekur, instead of the usual continuous-time model and the problems caused by the discretization of the continuous-time controller are avoided. The efficiency of the discrete-time sliding mode controller is proved by simulations and real time results. |
| Starting Page | 1076 |
| Ending Page | 1081 |
| File Size | 290567 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781457701245 |
| e-ISBN | 9781457701252 |
| DOI | 10.1109/MED.2011.5983167 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-06-20 |
| Publisher Place | Greece |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Wheels Mobile communication Trajectory Mobile robots Sliding mode control Vehicles |
| Content Type | Text |
| Resource Type | Article |
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