TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL

Michael Defoort; Thierry Floquet; Wifrid Perruquetti; Annemarie Kokosy

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Paper

TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL

Topics: Mobile Robots and Autonomous Systems; Vehicle Control Applications

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 106-111, 2005 , Barcelona, Spain

Authors: Michael Defoort ¹ ; Thierry Floquet ¹ ; Wifrid Perruquetti ¹ and Annemarie Kokosy ²

Affiliations: ¹ LAGIS UMR CNRS 8146, Ecole Centrale de Lille, France ; ² LAGIS UMR CNRS 8146, ISEN, France

Keyword(s): Nonholonomic mobile robot, sliding mode, tracking control, unmatched uncertainty.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper deals with the tracking control for a dynamic model of a wheeled mobile robot in the presence of some perturbations. The control strategy is based on integral sliding mode. Simulations illustrate the results on the studied mobile robot.

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Paper citation in several formats:

Defoort, M.; Floquet, T.; Perruquetti, W. and Kokosy, A. (2005). TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 106-111. DOI: 10.5220/0001173501060111

@conference{icinco05,
author={Michael Defoort. and Thierry Floquet. and Wifrid Perruquetti. and Annemarie Kokosy.},
title={TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2005},
pages={106-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001173501060111},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL
SN - 972-8865-30-9
IS - 2184-2809
AU - Defoort, M.
AU - Floquet, T.
AU - Perruquetti, W.
AU - Kokosy, A.
PY - 2005
SP - 106
EP - 111
DO - 10.5220/0001173501060111
PB - SciTePress