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| Content Provider | Springer Nature Link |
|---|---|
| Author | Lee, Jun Ho Lin, Cong Lim, Hoon Lee, Jang Myung |
| Copyright Year | 2009 |
| Abstract | This paper presents a sliding mode control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties, it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. A robust control law which is called sliding mode control is proposed for asymptotically stabilizing the mobile robot to a desired trajectory. The posture of the mobile robot (including the position and heading direction) is presented and the kinematics equations are established in the two-dimensional coordinates. According to the kinematics equations, the controller is designed to find an acceptable control law so that the tracking error will approximate 0 as the time approaches infinity with an initial error. The RFID sensor space is used to estimate the real posture of the mobile robot. Simulation and experiment demonstrate the efficacy of the proposed system for robust tracking of mobile robots. |
| Starting Page | 429 |
| Ending Page | 435 |
| Page Count | 7 |
| File Format | |
| ISSN | 15986446 |
| Journal | International Journal of Control, Automation and Systems |
| Volume Number | 7 |
| Issue Number | 3 |
| Language | English |
| Publisher | Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers |
| Publisher Date | 2009-05-30 |
| Publisher Place | Heidelberg |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Mobile robot RFID sensor space sliding mode trajectory tracking Control Robotics Mechatronics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Systems Engineering Computer Science Applications |
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