EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT

Alaa Dib, Houria Siguerdidjane

Abstract

This paper addresses the trajectory tracking problem of a nonholonomic mobile robot. More precisely, we are interested in solving the problem of tracking a reference trajectory in presence of disturbances. A control strategy based on the Integral SlidingMode is proposed combined with a state feedback linearization. While many studies have considered the kinematic model of the vehicle only, we have used both kinematic and dynamic models. The distinctive property of the proposed controller is its robustness of performance in the presence of uncertainties. To assess the quality of the proposed approach, we performed in addition to simulations the implementation of this controller on the robot Koala, a two-wheel differentially driven mobile robot. Lab work illustrates the real quality and efficiency of this control strategy.

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Paper Citation


in Harvard Style

Dib A. and Siguerdidjane H. (2011). EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: MORAS, (ICINCO 2011) ISBN 978-989-8425-75-1, pages 445-450. DOI: 10.5220/0003648904450450


in Bibtex Style

@conference{moras11,
author={Alaa Dib and Houria Siguerdidjane},
title={EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: MORAS, (ICINCO 2011)},
year={2011},
pages={445-450},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003648904450450},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: MORAS, (ICINCO 2011)
TI - EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT
SN - 978-989-8425-75-1
AU - Dib A.
AU - Siguerdidjane H.
PY - 2011
SP - 445
EP - 450
DO - 10.5220/0003648904450450