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A novel variable structure theory applied in design for wheeled mobile robots

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Abstract

This article is concerned with the control of wheeled mobile robots (WMRs) using a modified variable structure theory. First, we introduce the dynamic characteristics of a WMR. Second, conventional variable structure control is reviewed. In order to considerably improve the transient response during the reaching phase, a modified variable structure control is proposed. The validity of the proposed variable structure theory is verified by means of a simulation test on a home-made wheeled mobile vehicle. The simulation results validate the superiority and practicality of the modified variable structure for WMRs.

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Author information

Authors and Affiliations

  1. Department of Electronic Engineering, Chienkuo Technology University, No. 1 Chieh Shou N. Rd., Changhua City, Taiwan

    Chun-Chieh Wang

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  1. Chun-Chieh Wang
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Correspondence to Chun-Chieh Wang.

Additional information

This work was presented in part at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011

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Cite this article

Wang, CC. A novel variable structure theory applied in design for wheeled mobile robots. Artif Life Robotics 16, 378–382 (2011). https://doi.org/10.1007/s10015-011-0955-3

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  • DOI: https://doi.org/10.1007/s10015-011-0955-3

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