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Robust Nonlinear Control of a Mobile Robot
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 Title & Authors
Robust Nonlinear Control of a Mobile Robot
Zidani, Ghania; Drid, Said; Chrifi-Alaoui, Larbi; Arar, Djemai; Bussy, Pascal;
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A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.
Wheeled mobile robot (WMR);Kinematic control;Dynamic control;Nonlinear methods;Theorem Lyapunov;Nonholonomic mobile robot;
 Cited by
Takanori Fukao, Hiroshi Nakagawa, and NorihikoAdachi, “Adaptive Tracking Control of a Nonholonomic Mobile Robot”, IEEE transactions on robotics and automation, vol. 16, n° 5, October, pp 609-615, 2000. crossref(new window)

Jasmin Velagic, Bakir Lacevic and Nedim Osmic, “Nonlinear Motion Control of Mobile Robot Dynamic Model”, University of Sarajevo Bosnia and Herzegovina, pp 529-550.

Chih angchen, Tzuu Hsengs.Li, Ying Chienhyeh and Cha Cheng Chang, “Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots”, Mechatronics, 19 pp 156-166, 2009. crossref(new window)

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Cassius Z. Resende, Ricardo Carelli and Mario Sarcinelli-Filho, “A nonlinear trajectory tracking controller for mobile robots with velocity limitation via fuzzy gains”, Control Engineering Practice, vol. 21, pp. 1302-1309, 2013. crossref(new window)

Ghania Zidani, Said Drid, Larbi Chrifi-Alaoui and Djemai Arar, “Nonlinear Tracking Control of a Wheeled Mobile Robot,” the 15th International conference on Sciences and Techniques of Automatic control & computer engineering December 21-23, 2014, STA'2014, Hammamet, Tunisia.

MingYing Hsiao, Chih-Yang chen, Shun-Hung Tsai and Shun-Tsai Liu, “Combined Interval type-2 Fuzzy Kinematic and Dynamic Controls of the Weeled Mobile Robot with Adaptive Sliding Mode Technique”, Fuzz-IEEE, Korea, pp 706-711, August 20-24, 2009.

Omid Mohareri, Rached Dhaouadi, Ahmed B. Rad, “Indirect adaptive tracking control of a nonholonomic mobile robot via neural networks”, Neurocomputing 88, pp 54-66, 2012. crossref(new window)

Ghania Zidani, Said Drid, Larbi Chrifi-Alaoui, Abdeslam Benmakhlouf, Souad Chaouch, “Back-stepping Controller for a Wheeled Mobile Robot,” 4th International Conference on Systems and Control (ICSC'15) April 28-30, 2015, , Sousse, Tunisia.