{"title":"The tracking problem for a mobile robot: A sliding mode controller for the dynamical model","authors":"M. Corradini, T. Leo, Giuseppe Orlando","doi":"10.23919/ECC.1999.7099432","DOIUrl":null,"url":null,"abstract":"In this note, the tracking trajectory problem for a wheeled mobile base has been solved using the robot dynamical model. The proposed solution is based on sliding mode control. The asymptotic vanishing of the tracking errors has been theoretically proved, and simulation results have been reported, showing the effectiveness of the proposed control law.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"1999 European Control Conference (ECC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ECC.1999.7099432","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
In this note, the tracking trajectory problem for a wheeled mobile base has been solved using the robot dynamical model. The proposed solution is based on sliding mode control. The asymptotic vanishing of the tracking errors has been theoretically proved, and simulation results have been reported, showing the effectiveness of the proposed control law.
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