基于高阶滑模控制的两轮移动机器人轨迹跟踪

2013 International Conference on Control, Computing, Communication and Materials (ICCCCM) Pub Date : 2013-10-31 DOI:10.1109/ICCCCM.2013.6648908

Himajit Aithal, S. Janardhanan

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引用次数: 20

摘要

针对两轮移动机器人的轨迹跟踪问题，提出了一种鲁棒控制方法。二阶滑模控制方法用于确保扭矩输入的连续性，以及干扰抑制。通过两次仿真验证了结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Trajectory tracking of two wheeled mobile robot using higher order sliding mode control

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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2013 International Conference on Control, Computing, Communication and Materials (ICCCCM)

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