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.
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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 UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1551571 |
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