Dynamic Control of Wheeled Mobile Robot Using Sliding Mode
In this paper, we present a new robot ROMAIN. We describe the used mechanical, hardware and software architecture. This open structure is realized with a serial high speed bus: CAN. We develop the contraint and dynamic equations and we explain the state system. To control this robot, we use a variable structure control to track desired trajectories. However, this control method is too constraining to DC motor. We adjust this controller to implement it in the view to delete the chaterring. Different simulations are performed to show the efficiency of this controller.
KeywordsMobile Robot Sliding Mode Nonholonomic System Inertia Matrix Ultrasonic Sensor
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