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ROMANSY 11 pp 205-212 | Cite as

Dynamic Control of Wheeled Mobile Robot Using Sliding Mode

  • P. Ruaux
  • G. Bourdon
  • S. Delaplace
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)

Abstract

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.

Keywords

Mobile Robot Sliding Mode Nonholonomic System Inertia Matrix Ultrasonic Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    P. RUAUX, G. BOURDON, S. DELAPLACE, N. PONS, and J. HABIT. A rapid mobile robot synthesis. IEEE International Conference on Systems, Man and Cybernetics, 5: 4073–4078, 1995.Google Scholar
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    H.-S. SHIM, J.-H. KIM, and K. KOH. Variable structure control of nonholonomic wheeled mobile robot. IEEE International Conference on Robotics and Automation, pages 1694–1699, 1995.Google Scholar
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    V. I. UTKIN. Variable structure systems with sliding modes. IEEE Transactions on Automatic Control, 22 (2): 212–231, April 1977.CrossRefMATHMathSciNetGoogle Scholar

Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • P. Ruaux
    • 1
    • 2
  • G. Bourdon
    • 1
    • 2
  • S. Delaplace
    • 1
    • 2
  1. 1.Pierre et M. Curie University, CNRSParisFrance
  2. 2.Versailles Saint-Quentin UniversityVélizyFrance

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