By Topic

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Michel Lopez-Franco ; CUCEI, Universidad de Guadalajara, Apartado Postal 51-71, Col. las aguilas, C.P. 45080, Zapopan, Jalisco, Mexico ; Angel Salome-Baylón ; Alma Y. Alanis ; Nancy Arana-Daniel

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