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Experimental tests of a sliding mode controller for trajectory tracking of a car-like mobile robot

Published online by Cambridge University Press:  19 July 2013

F. Hamerlain ,
T. Floquet  and
W. Perruquetti
F. Hamerlain*
Affiliation:
Division Robotique et Productique, CDTA, Cité du 20 Août 1956, BP No. 17, Baba Hassen, Algiers, Algeria
T. Floquet
Affiliation:
LAGIS UMR CNRS 8146, Ecole Centrale de Lille, BP No. 48, Cité Scientifique, 59651 Villeneuve-d'Ascq, France
W. Perruquetti
Affiliation:
INRIA-LNE, Parc Scientifique de la Haute Borne 40, Avenue Halley Bat. A, Park Plaza 59650 Villeneuve d'Ascq, France
*
*Corresponding author. E-mail: hamerlainf@yahoo.fr
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Summary

This paper deals with the problem of the practical tracking control of an experimental car-like system called the Robucar. The car-like Robucar is a four-wheeled car in a single steering mode. Based on a kinematic model of the car-like Robucar, a practical tracking controller is designed using the second-order sliding mode control of the super twisting algorithm. Hence, the output tracking of the desired trajectory is achieved, and the tracking errors vanish asymptotically. Experimental tests on the car-like Robucar are presented for simple and real-time nonholonomic trajectories, and comparative results with the conventional sliding controller demonstrate the applicability and efficiency of the proposed controller.

Keywords

Wheeled mobile robotHigher order sliding modeTrajectory trackingKinematic controlRobucar

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 1 , January 2014 , pp. 63 - 76
Copyright
Copyright © Cambridge University Press 2013 

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