The Design of Fast Terminal Sliding Mode Kinematic Control for Wheeled Mobile Robots
Publish place: International Journal of Mechatronics, Electrical and Computer Technology، Vol: 4، Issue: 11
Publish Year: 1393
Type: Journal paper
Language: English
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Document National Code:
JR_IJMEC-4-11_008
Index date: 4 April 2016
The Design of Fast Terminal Sliding Mode Kinematic Control for Wheeled Mobile Robots abstract
This paper addresses the motion control problem of wheeled mobile robots as a class of nonholonomic systems. The proposed control method is based on fast terminal sliding mode control in which the control objective is trajectory tacking. In order to design a terminal sliding mode control for this class of systems, we use extended chained form of the wheeled mobile robot. The proposed method leads to finite time convergent tracking of nonholonomic systems. Simulation results show the applicability and the effectiveness of the proposed method
The Design of Fast Terminal Sliding Mode Kinematic Control for Wheeled Mobile Robots Keywords:
Fast Terminal sliding mode , nonholonomic systems , wheeled mobile robot , kinematic model , chained form
The Design of Fast Terminal Sliding Mode Kinematic Control for Wheeled Mobile Robots authors
Hosein Ghasemi
M.S student in Babol University of Technology
Behrooz Rezaie
Academy staff in Babol University of Technology
Zahra Rahmani
Academy staff in Babol University of Technology