ISSN:
1013-9826
Source:
Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
This paper presents a new trajectory tracking control algorithm to uncertain mobile robotwith nonholonomic constraints. This algorithm is based on the non-singular terminal sliding modetechnique, which can eliminate the singularity problem caused by conventional terminal slidingmode control. The system state vector is designed using backstepping method, this method breaksdown nonlinear systems into low dimensional systems and simplifies the controller design. Bycombining Lyapunov method, it is proved that under this control law, the pose errors converge tozero, the mobile robot can track the desired trajectory when the desired velocity satisfies someassumptions. Simulation results validate the theoretical analysis
Type of Medium:
Electronic Resource
URL:
http://www.tib-hannover.de/fulltexts/2011/0528/01/57/transtech_doi~10.4028%252Fwww.scientific.net%252FKEM.375-376.588.pdf
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