한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권5호
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  • Pages.145-153
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  • 2000
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

중하중을 받는 이동로붓의 슬라이딩모드 제어

Sliding Mode Control for a High-Load Wheeled Mobile Robot

  • 발행 : 2000.05.01
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초록

This paper discusses the dynamic modeling and robust control development for a differentially steered mobile robot subject to wheel slip according to high load. Consideration of wheel slip is crucial for high load applications such as construction automation tasks because wheel slip acts as a severe disturbance to the system. It is shown that the uncertainty terms due to the wheel slip satisfy the matching condition for the sliding mode control design. From the full dynamic model of the mobile robot, a reduced ideal model is extracted to facilitate the control design. The sliding mode control method ensures the dynamic tracking performance for such a mobile robot. Numerical simulation shows the promise of the developed algorithm.

키워드

참고문헌

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