Dynamic Analysis and Quasi-sliding Mode Control of Mobile Robot

摘要：

To avoid the chattering disadvantage of sliding-mode control (SMC), in this paper, a quasi-sliding mode controller is proposed for real-time fine control of a nonholonomic mobile robot First, the dynamics of mobile robot is analyzed by Lagrangian formula. Then, the quasi-sliding mode controller is used to generate the control torque that drives the mobile robot, such that the linear and angular velocities of the mobile robot follow the desired velocities. At last, computer simulation results confirm the effectives of SMC.

关键词： nonholonamic dynamic trajeory tracking quasisliding model control

作者: Hongmei Wang Minglu Zhang Guangzhu Meng

作者单位: School of Mechanical Engineering. Hebei University of Technology Tianjin, China School of Electrical School of Mechanical Engineering. Hebei University of Technology Tianjin, China

会议类型: 国际会议

会议名称: 2011 International Conference on Manufacturing and Industrial Engineering(ICMIE 2011)(2011年制造及工业工程国际会议)

会议地点: 海口

会议语种:英文

页码: 517-521

在线出版日期: 2011-02-22（万方平台首次上网日期，不代表论文的发表时间）