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

Mu, Jianqiu, Yan, Xinggang, Spurgeon, Sarah K., Mao, Zehui (2017) Nonlinear sliding mode control of a two-wheeled mobile robot system. International Journal of Modelling, Identification and Control, 27 (2). ISSN 1746-6172. (doi:10.1504/IJMIC.2017.10003912) (Access to this publication is currently restricted. You may be able to access a copy if URLs are provided)

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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.

Item Type: Article
DOI/Identification number: 10.1504/IJMIC.2017.10003912
Uncontrolled keywords: sliding mode control, trajectory tracking, non-holonomic systems, mobile robots, nonlinear SMC, two-wheeled robots, wheeled robots, robot control, micro controllers, DC motors, PWM signals, pulse width modulation, actuators, feedback control, simulation
Subjects: T Technology
Divisions: Faculties > Sciences > School of Engineering and Digital Arts
Depositing User: Xinggang Yan
Date Deposited: 26 Jan 2017 16:34 UTC
Last Modified: 29 May 2019 18:36 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/60116 (The current URI for this page, for reference purposes)
Yan, Xinggang: https://orcid.org/0000-0003-2217-8398
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