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Application of Sliding Mode Trajectory Tracking Control Design for Two-Wheeled Mobile Robots

Yang, Yankun and Yan, Xinggang and Sirlantzis, Konstantinos and Howells, Gareth (2019) Application of Sliding Mode Trajectory Tracking Control Design for Two-Wheeled Mobile Robots. In: 2019 NASA/ESA Conference on Adaptive Hardware and Systems (AHS). IEEE. E-ISBN 978-1-72814-650-8. (doi:10.1109/AHS.2019.00012) (KAR id:76043)

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http://dx.doi.org/10.1109/AHS.2019.00012

Abstract

A trajectory tracking controller is proposed to drive the wheeled mobile robot (WMR) to follow a predefined trajectory robustly within a finite time under the presence of uncertainties. The two-wheeled mobile robot and tracking error system are modelled by kinematic equations, the stability and reachability of the sliding mode controller are analysed based on the system models. A two-wheeled mobile robot is built by using the STM32F407 (ARM Cortex-M4 microcontroller) board and a MATLAB GUI, and a cooperative real-time operating system are implemented by using C programming language in order to provide convenient system configuration and improve the overall tracking performance. It is demonstrated that the line and circular trajectories are well tracked in simulation and experiment.

Item Type: Book section
DOI/Identification number: 10.1109/AHS.2019.00012
Uncontrolled keywords: trajectory tracking, wheeled mobile robot, sliding mode control, nonlinear systems, robotics, embedded system
Subjects: T Technology
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: Xinggang Yan
Date Deposited: 30 Aug 2019 16:06 UTC
Last Modified: 16 Feb 2021 14:06 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/76043 (The current URI for this page, for reference purposes)
Yan, Xinggang: https://orcid.org/0000-0003-2217-8398
Sirlantzis, Konstantinos: https://orcid.org/0000-0002-0847-8880
Howells, Gareth: https://orcid.org/0000-0001-5590-0880
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