loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Alaa Dib and Houria Siguerdidjane

Affiliation: SUPELEC, France

Keyword(s): Mobile Robot, Trajectory Tracking, Integral Sliding Mode, Nonholonomic systems.

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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.144.47.115

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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 (ICINCO 2011) - Volume 1: MORAS; ISBN 978-989-8425-75-1; ISSN 2184-2809, SciTePress, pages 445-450. DOI: 10.5220/0003648904450450

@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 (ICINCO 2011) - Volume 1: MORAS},
year={2011},
pages={445-450},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003648904450450},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2011) - Volume 1: MORAS
TI - EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT
SN - 978-989-8425-75-1
IS - 2184-2809
AU - Dib, A.
AU - Siguerdidjane, H.
PY - 2011
SP - 445
EP - 450
DO - 10.5220/0003648904450450
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic