{"title":"Trajectory tracking with a hybrid control applied to a bi-steerable car","authors":"S. A. Tchenderli-Braham, F. Hamerlain","doi":"10.1109/IcConSCS.2013.6632056","DOIUrl":null,"url":null,"abstract":"In this paper we propose to solve the problem of stability and robustness for a trajectory tracking control applied to a bi-steerable mobile robot (Bis-Car) by using a discontinuous hybrid control law. This control is developed from the principles of methods of classic sliding mode and Backstepping. The robustness and the applicability of this control law are shown by simulation and experimentation results.","PeriodicalId":265358,"journal":{"name":"2nd International Conference on Systems and Computer Science","volume":"217 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2nd International Conference on Systems and Computer Science","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IcConSCS.2013.6632056","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
In this paper we propose to solve the problem of stability and robustness for a trajectory tracking control applied to a bi-steerable mobile robot (Bis-Car) by using a discontinuous hybrid control law. This control is developed from the principles of methods of classic sliding mode and Backstepping. The robustness and the applicability of this control law are shown by simulation and experimentation results.
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