{"title":"Trajectory tracking of two wheeled mobile robot using higher order sliding mode control","authors":"Himajit Aithal, S. Janardhanan","doi":"10.1109/ICCCCM.2013.6648908","DOIUrl":null,"url":null,"abstract":"This paper presents a robust control method for trajectory tracking of a two wheeled mobile robot. A second order sliding mode control methodology is used to ensure continuity in the torque inputs, in addition to disturbance rejection. The results are validated through two simulations.","PeriodicalId":230396,"journal":{"name":"2013 International Conference on Control, Computing, Communication and Materials (ICCCCM)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 International Conference on Control, Computing, Communication and Materials (ICCCCM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCCCM.2013.6648908","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 20
Abstract
This paper presents a robust control method for trajectory tracking of a two wheeled mobile robot. A second order sliding mode control methodology is used to ensure continuity in the torque inputs, in addition to disturbance rejection. The results are validated through two simulations.
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