A New Tracking Control Algorithm for Mobile Robots

摘要：

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.

关键词： mobile robot nonholonomic systems trajectory tracking terminal sliding mode

作者: Y.H.Zhao R.F.Chen

作者单位: College of Mechanical Engineering,Yangzhou University,Yangzhou,225009,China

会议类型: 国际会议

会议名称: The 3rd Conference of Cross-Strait Engineering Education and Ceeusro & 1st International Conference on Engineering Technologies and Ceeusro(ICETC2009)(第三届工程技术与产学研研讨会暨第一届国际功能制造技术学术会议)

会议地点: 常州

会议语种:英文

页码: 202-205

在线出版日期: 2009-11-19（万方平台首次上网日期，不代表论文的发表时间）