This article addresses the trajectory tracking problem for a wheeled mobile base, considering the presence of disturbances that violate the nonholonomic constraint, and using an approximated discrete-time model for the vehicle. The proposed solution is based on discrete-time sliding mode control, in order to ensure that the controller is both robust and implementable. The asymptotic boundedness of the discrete-time tracking errors is theoretically proved, and experimental results are reported, showing the effectiveness of the proposed control law.

Experimental testing of a discrete time sliding mode controller for the trajectory tracking of a mobile vehicle in the presence of skidding effect.

CORRADINI, Maria Letizia;
2002-01-01

Abstract

This article addresses the trajectory tracking problem for a wheeled mobile base, considering the presence of disturbances that violate the nonholonomic constraint, and using an approximated discrete-time model for the vehicle. The proposed solution is based on discrete-time sliding mode control, in order to ensure that the controller is both robust and implementable. The asymptotic boundedness of the discrete-time tracking errors is theoretically proved, and experimental results are reported, showing the effectiveness of the proposed control law.
2002
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11581/103191
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