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Variable structure systems, sliding mode and nonlinear control pp 181–191Cite as

Sliding mode control of a car-like mobile robot using single-track dynamic model

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 247))

Abstract

An easy-to-implement global trajectory tracking algorithm in the class of variable structure systems is designed and analyzed within the single-track dynamical model framework. The algorithm uses measurements of the position, orientation and the yaw rate of the robot and is robust with respect to the parameter variations.

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Author information

Authors and Affiliations

  1. Department of Signals and Systems SE, Control Engineering Laboratory, 412 96, Gothenburg, Sweden

    A. Stotsky

  2. Optimization and Systems Theory, Royal Institute of Technology SE, 100 44, Stockholm, Sweden

    X. Hu

Authors
  1. A. Stotsky
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  2. X. Hu
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Editor information

K.D. Young PhD Ü. Özgüner PhD

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© 1999 Springer-Verlag

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Stotsky, A., Hu, X. (1999). Sliding mode control of a car-like mobile robot using single-track dynamic model. In: Young, K., Özgüner, Ü. (eds) Variable structure systems, sliding mode and nonlinear control. Lecture Notes in Control and Information Sciences, vol 247. Springer, London. https://doi.org/10.1007/BFb0109977

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  • DOI: https://doi.org/10.1007/BFb0109977

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-197-9

  • Online ISBN: 978-1-84628-540-0

  • eBook Packages: Springer Book Archive

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