scholarly journals Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot

2018 ◽  
Vol 6 (4) ◽  
pp. 1-6
Author(s):  
Ahmet Dumlu ◽  
Mehmet Rasim Yıldırım
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Real Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Continuous Model ◽  
Control Technique ◽  
Trajectory Tracking Control ◽  
Model Based

Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control

2018 ◽  
Vol 72 ◽  
pp. 167-176 ◽  
Author(s):  
Imad Matraji ◽  
Ahmed Al-Durra ◽  
Andri Haryono ◽  
Khaled Al-Wahedi ◽  
Mohamed Abou-Khousa
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Second Order ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Second Order Sliding Mode

scholarly journals Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Hua Cen ◽  
Bhupesh Kumar Singh
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control

Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

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