Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Adaptive Sliding Mode Control for Nonholonomic Mobile Robots with Model Uncertainty and External Disturbance

모델 불확실성과 외란이 있는 이동 로봇을 위한 적응 슬라이딩 모드 제어

  • Park, Bong-Seok (Dept. Electrical & Electronic Engineering Yonsei University) ;
  • Choi, Yoon-Ho (School of Electronic Engineering Kyonggi University) ;
  • Park, Jin-Bae (Dept. Electrical & Electronic Engineering Yonsei University)
  • 박봉석 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학부) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Published : 2007.07.18
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Abstract

This paper proposes an adaptive sliding mode control method for trajectory tracking of nonholonomic mobile robots with model uncertainties and external disturbances. The kinematic model represented by polar coordinates are considered to design a robust control system. Wavelet neural networks (WNNs) are employed to approximate arbitrary model uncertainties in dynamics of the mobile robot. From the Lyapunov stability theory, we derive tuning algorithms for all weights of WNNs and prove that all signals of an adaptive closed-loop system are uniformly ultimately bounded.

Keywords