TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL

Michael Defoort, Thierry Floquet, Wifrid Perruquetti, Annemarie Kokosy

Abstract

This paper deals with the tracking control for a dynamic model of a wheeled mobile robot in the presence of some perturbations. The control strategy is based on integral sliding mode. Simulations illustrate the results on the studied mobile robot.

References

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Paper Citation


in Harvard Style

Defoort M., Floquet T., Perruquetti W. and Kokosy A. (2005). TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 106-111. DOI: 10.5220/0001173501060111


in Bibtex Style

@conference{icinco05,
author={Michael Defoort and Thierry Floquet and Wifrid Perruquetti and Annemarie Kokosy},
title={TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={106-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001173501060111},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL
SN - 972-8865-30-9
AU - Defoort M.
AU - Floquet T.
AU - Perruquetti W.
AU - Kokosy A.
PY - 2005
SP - 106
EP - 111
DO - 10.5220/0001173501060111