DOAJ Open Access 2018

Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics

Yasmine Koubaa Mohamed Boukattaya Tarak Damak

Lihat Sumber DOI

Abstrak

This article designs a novel adaptive trajectory tracking controller for nonholonomic wheeled mobile robot under kinematic and dynamic uncertainties. A new velocity controller, in which kinematic parameter is estimated, produces velocity command of the robot. The designed adaptive sliding mode dynamic controller incorporates an estimator term to compensate for the external disturbances and dynamic uncertainties and a feedback term to improve the closed-loop stability and account for the estimation error of external disturbances. The system stability is analyzed using Lyapunov theory. Computer simulations affirm the robustness of the designed control scheme.

Topik & Kata Kunci

Electronic computers. Computer science Cybernetics

Penulis (3)

Yasmine Koubaa

Mohamed Boukattaya

Tarak Damak

Format Sitasi

APA MLA BibTeX

Koubaa, Y., Boukattaya, M., Damak, T. (2018). Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics. https://doi.org/10.1080/08839514.2018.1519100

Akses Cepat

Lihat di Sumber doi.org/10.1080/08839514.2018.1519100

Informasi Jurnal

Tahun Terbit: 2018
Sumber Database: DOAJ
DOI: 10.1080/08839514.2018.1519100
Akses: Open Access ✓