A New Tracking Control Algorithm for Mobile Robots

This paper presents a new trajectory tracking control algorithm to uncertain mobile robot with nonholonomic constraints. This algorithm is based on the non-singular terminal sliding mode technique, which can eliminate the singularity problem caused by conventional terminal sliding mode control. The...

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Bibliographic Details
Published in:Key engineering materials 2010-01, Vol.426-427, p.202-205
Main Authors: Zhao, Yi Hong, Chen, Rong Fa
Format: Article
Language:English
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Summary:This paper presents a new trajectory tracking control algorithm to uncertain mobile robot with nonholonomic constraints. This algorithm is based on the non-singular terminal sliding mode technique, which can eliminate the singularity problem caused by conventional terminal sliding mode control. The proposed control laws enable the mobile robots track the desired trajectory in finite time when the desired rotate velocities are nonzero. Simulation results show the effectiveness of the algorithm.
ISSN:1013-9826
1662-9795
1662-9795
DOI:10.4028/www.scientific.net/KEM.426-427.202