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Authors: Alaa Dib and Houria Siguerdidjane

Affiliation: SUPELEC, France

ISBN: 978-989-8425-75-1

ISSN: 2184-2809

Keyword(s): Mobile Robot, Trajectory Tracking, Integral Sliding Mode, Nonholonomic systems.

Abstract: This paper addresses the trajectory tracking problem of a nonholonomic mobile robot. More precisely, we are interested in solving the problem of tracking a reference trajectory in presence of disturbances. A control strategy based on the Integral SlidingMode is proposed combined with a state feedback linearization. While many studies have considered the kinematic model of the vehicle only, we have used both kinematic and dynamic models. The distinctive property of the proposed controller is its robustness of performance in the presence of uncertainties. To assess the quality of the proposed approach, we performed in addition to simulations the implementation of this controller on the robot Koala, a two-wheel differentially driven mobile robot. Lab work illustrates the real quality and efficiency of this control strategy.

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Paper citation in several formats:
Dib, A. and Siguerdidjane, H. (2011). EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT. In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: MORAS, (ICINCO 2011) ISBN 978-989-8425-75-1; ISSN 2184-2809, pages 445-450. DOI: 10.5220/0003648904450450

@conference{moras11,
author={Alaa Dib. and Houria Siguerdidjane.},
title={EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: MORAS, (ICINCO 2011)},
year={2011},
pages={445-450},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003648904450450},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: MORAS, (ICINCO 2011)
TI - EXPERIMENTAL RESULTS OF INTEGRAL SLIDING MODE CONTROLLER FOR A NONHOLONOMIC MOBILE ROBOT
SN - 978-989-8425-75-1
IS - 2184-2809
AU - Dib, A.
AU - Siguerdidjane, H.
PY - 2011
SP - 445
EP - 450
DO - 10.5220/0003648904450450

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