A sliding mode controller with generalized H2 performance for dynamic of nonholonomic mobile robot

2013 ◽  
Author(s):  
Shirin Valiloo ◽  
Ehsan Khadem Olama ◽  
Amir Khadem Olama
Keyword(s):  
Mobile Robot ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Nonholonomic Mobile Robot

Dynamic Analysis and Quasi-Sliding Mode Control of Mobile Robot

2012 ◽  
Vol 433-440 ◽  
pp. 3168-3174
Author(s):  
Hong Mei Wang ◽  
Ming Lu Zhang ◽  
Guang Zhu Meng
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Torque ◽  
Nonholonomic Mobile Robot ◽  
Mode Control ◽  
Angular Velocities ◽  
Fine Control ◽  
Simulation Results

To avoid the chattering disadvantage of sliding-mode control (SMC), in this paper, a quasi-sliding mode controller is proposed for real-time fine control of a nonholonomic mobile robot. First, the dynamics of mobile robot is analyzed by Lagrangian formula. Then, the quasi-sliding mode controller is used to generate the control torque that drives the mobile robot, such that the linear and angular velocities of the mobile robot follow the desired velocities. At last, computer simulation results confirm the effectives of SMC.

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