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Sliding mode control applied to mobile robot: continuous-time and discrete-time cases

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2 Author(s)
Hamerlain, M. ; Lab. de Robotique et d''Intelligence Artificielle, CDTA, Alger, Algeria ; Alalouche, T.

In this work a sliding mode controller solution is proposed for tracking problems associated to well known types of mobile robots. The robustness property of the sliding mode controller for the continuous-time systems can thus be extended to the discrete-time systems under others conditions for existence sliding modes. Simulation results are presented to illustrate the effectiveness of the approach in two cases continuous-time and discrete-time.

Published in:

Control, Communications and Signal Processing, 2004. First International Symposium on

Date of Conference:

2004