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Authors: Michael Defoort 1 ; Thierry Floquet 1 ; Wifrid Perruquetti 1 and Annemarie Kokosy 2

Affiliations: 1 LAGIS UMR CNRS 8146, Ecole Centrale de Lille, France ; 2 LAGIS UMR CNRS 8146, ISEN, France

ISBN: 972-8865-30-9

Keyword(s): Nonholonomic mobile robot, sliding mode, tracking control, unmatched uncertainty.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

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.

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Paper citation in several formats:
Defoort M.; Floquet T.; Perruquetti W.; Kokosy A. and (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

@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},
}

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

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