Quasi-sliding Mode Variable Structure Control for Trajectory Tracking of Six-wheeled Mobile Robot

摘要：

This paper presents the problem of trajectory tracking control for the nonholonomic six-wheeled mobile robot. Based on backstepping control algorithm, a switch function for quasi-sliding mode control is designed and a quasi-sliding mode controller with global asymptotically stability is proposed for the kinematic model. This method simplifies the controller design and is applicable to the trajectory tracking control of the mobile robot, and it can effectively reduce the chattering phenomena existed in the conventional sliding mode control. Simulation results are provided to demonstrate the effectiveness and correctness.

作者: Yuan Laohu Liu Tun

作者单位: Dept. of Astronautic Engineering Harbin Institute of Technology No.92,West Da-Zhi Street,Harbin,Heilongjiang,China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 989-993

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）