Nonlinear tracking control of a wheeled mobile robot

Zidani, Ghania; Drid, Saïd; Chrifi‐Alaoui, Larbi; Arar, Djemaï; Bussy, P.

doi:10.1109/sta.2014.7086727

Cited by 3 publications

(3 citation statements)

References 6 publications

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“…The problem can be interpreted as consisting of the slave robot to robot reference, whose trajectory is given by [1][2][3][4][5][6].…”

Section: Tracking Controller Designmentioning

confidence: 99%

“…In the literature, the problem is treated as the continuation of a robot reference (virtual processor) which moves to the desired trajectory with a certain pace. The real robot must follow this virtual robot accurately and try to minimize the error in distance, varying its linear and angular velocities [1][2][3][4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

“…In this case generally use linear and angular velocities of the robot (Fierro & Lewis, 1997; Fukao et al, 2000) or torques (Rajagopalan & Barakat , 1997; Topalov et al, 1998) as an input control vector [2]. The most authors determine the problem of mobile robot stability using nonlinear backstepping algorithm (Tanner & Kyriakopoulos, 2003) with steady parameters (Fierro & Lewis, 1997), or with the known functions (Oriollo et al, 2002) [1][2][3][4][5][6]. Other goals at the control architectures, the hybrid of the kinematic control, and the dynamic controller, the neural network controller, is proposed as some trajectory tracking methods [3].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Nonlinear Control of a Mobile Robot

Zidani¹,

Drid²,

Chrifi‐Alaoui³

et al. 2016

Journal of Electrical Engineering and Technology

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-A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.

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“…The problem can be interpreted as consisting of the slave robot to robot reference, whose trajectory is given by [1][2][3][4][5][6].…”

Section: Tracking Controller Designmentioning

confidence: 99%