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The Design of Fast Terminal Sliding Mode Kinematic Control for Wheeled Mobile Robots

Publish Year: 1393
Type: Journal paper
Language: English
View: 549

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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

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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