Abstract:
This paper is dedicated to the robust stabilization and tracking problems for a wheeled mobile robot. After the mobile robot dynamics have been transformed into an advant...Show MoreMetadata
Abstract:
This paper is dedicated to the robust stabilization and tracking problems for a wheeled mobile robot. After the mobile robot dynamics have been transformed into an advantageous form, a robust integral sliding mode controller is designed to promulgate a practical stabilization in spite of the uncertainties. The performance of the proposed controller is experimentally demonstrated on a real robot.
Published in: 2007 46th IEEE Conference on Decision and Control
Date of Conference: 12-14 December 2007
Date Added to IEEE Xplore: 21 January 2008
ISBN Information:
Print ISSN: 0191-2216
Contents 