TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL

Michael Defoort, Thierry Floquet, Wifrid Perruquetti, Annemarie Kokosy

2005

Abstract

This paper deals with the tracking control for a dynamic model of a wheeled mobile robot in the presence of some perturbations. The control strategy is based on integral sliding mode. Simulations illustrate the results on the studied mobile robot.

Paper Citation

in Harvard Style

Defoort M., Floquet T., Perruquetti W. and Kokosy A. (2005). TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 106-111. DOI: 10.5220/0001173501060111

in Bibtex Style

@conference{icinco05,
author={Michael Defoort and Thierry Floquet and Wifrid Perruquetti and Annemarie Kokosy},
title={TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={106-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001173501060111},
isbn={972-8865-30-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - TRACKING OF A UNICYCLE-TYPE MOBILE ROBOT USING INTEGRAL SLIDING MODE CONTROL
SN - 972-8865-30-9
AU - Defoort M.
AU - Floquet T.
AU - Perruquetti W.
AU - Kokosy A.
PY - 2005
SP - 106
EP - 111
DO - 10.5220/0001173501060111