Tracking control of nonholonomic wheeled mobile robot based on new sliding surface with approach angle

Jun Ku Lee, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalConference article

3 Citations (Scopus)

Abstract

This paper propose a method for designing the tracking control of nonholonomic wheeled mobile robots based on a new sliding surface with an approach angle. In order to remove the singular point problem at the origin, we consider the kinematic model in Cartesian coordinates. Also, we design a new sliding surface with an approach angle to solve the sliding surface constraints problem. Therefore, with the proposed controller, we derive the control input for arbitrary trajectories. We prove that the position tracking error converges to zero by using the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

Original languageEnglish
Pages (from-to)38-43
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume3
Issue numberPART 1
DOIs
Publication statusPublished - 2013 Jan 1
Event3rd IFAC Symposium on Telematics Applications, TA 2013 - Seoul, Korea, Republic of
Duration: 2013 Nov 112013 Nov 13

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Mobile robots
Kinematics
Trajectories
Control systems
Controllers
Computer simulation

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

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abstract = "This paper propose a method for designing the tracking control of nonholonomic wheeled mobile robots based on a new sliding surface with an approach angle. In order to remove the singular point problem at the origin, we consider the kinematic model in Cartesian coordinates. Also, we design a new sliding surface with an approach angle to solve the sliding surface constraints problem. Therefore, with the proposed controller, we derive the control input for arbitrary trajectories. We prove that the position tracking error converges to zero by using the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.",
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Tracking control of nonholonomic wheeled mobile robot based on new sliding surface with approach angle. / Lee, Jun Ku; Park, Jin Bae; Choi, Yoon Ho.

In: IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 3, No. PART 1, 01.01.2013, p. 38-43.

Research output: Contribution to journalConference article

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AB - This paper propose a method for designing the tracking control of nonholonomic wheeled mobile robots based on a new sliding surface with an approach angle. In order to remove the singular point problem at the origin, we consider the kinematic model in Cartesian coordinates. Also, we design a new sliding surface with an approach angle to solve the sliding surface constraints problem. Therefore, with the proposed controller, we derive the control input for arbitrary trajectories. We prove that the position tracking error converges to zero by using the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

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