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Discrete super twisting control algorithm for the nonholonomic mobile robots tracking problem

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4 Author(s)
Lopez-Franco, M. ; CUCEI, Univ. de Guadalajara, Zapopan, Mexico ; Salome-Baylon, A. ; Alanis, Alma Y. ; Arana-Daniel, N.

The tracking control of nonholonomic mobile robots has been an important class of control problems. This paper deals with the design and real-time implementation of a discrete-time super twisting control algorithm for nonholonomic wheeled mobile robots, without the previous knowledged of the plant model or its parameters. In order to show the effectiveness of the proposed controller experimental results are included for a nonholonomic mobile robot QBot®3.

Published in:
Electrical Engineering Computing Science and Automatic Control (CCE), 2011 8th International Conference on

Date of Conference: 26-28 Oct. 2011

Page(s):
1 - 5
Print ISBN:
978-1-4577-1011-7
INSPEC Accession Number:
12503343
Conference Location :
Merida City
Digital Object Identifier :
10.1109/ICEEE.2011.6106692
Product Type:
Conference Publications

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