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Nonlinear sliding mode control of a two-wheeled mobile robot system

Mu, J; Yan, XG; Spurgeon, SK; Mao, Z; (2017) Nonlinear sliding mode control of a two-wheeled mobile robot system. International Journal of Modelling, Identification and Control , 27 (2) pp. 75-83. 10.1504/IJMIC.2017.082943. Green open access

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Abstract

This paper presents a trajectory tracking control scheme for a two-wheeled mobile robot using sliding mode techniques. The stability of the designed sliding mode dynamics is analysed and reachability of the sliding mode is guaranteed in a given region with the proposed controller. A robot system including a micro-controller, the Arduino Due based on the ARM Cortex-M3, is used to implement the proposed control algorithm. Two DC motors controlled by PWM signals are used as actuators to implement the proposed feedback control. Simulation results are presented and compared with the results of practical experiments.

Type: Article
Title: Nonlinear sliding mode control of a two-wheeled mobile robot system
Open access status: An open access version is available from UCL Discovery
DOI: 10.1504/IJMIC.2017.082943
Publisher version: http://dx.doi.org/10.1504/IJMIC.2017.10003316
Language: English
Keywords: Sliding mode control; trajectory tracking; non-holonomic systems; mobile robots; nonlinear SMC; two-wheeled robots; wheeled robots; robot control; microcontrollers; DC motors; PWM signals; pulse width modulation; actuators; feedback control; simulation.
UCL classification: UCL > School of BEAMS
UCL > School of BEAMS > Faculty of Engineering Science
URI: http://discovery.ucl.ac.uk/id/eprint/1551571
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