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http://dx.doi.org/10.5370/JEET.2016.11.4.1012

Robust Nonlinear Control of a Mobile Robot  

Zidani, Ghania (Dept. of Electrical Engineering, Ouargla University)
Drid, Said (Laboratory LSPIE, Dept. of Electrical Engineering, Batna University)
Chrifi-Alaoui, Larbi (Laboratoire des technologies innovantes (L.T.I), Universite de Picardie Jules Verne, GEII)
Arar, Djemai (Advanced Electronics Laboratory (LEA), Dept. of Electronic, Batna University)
Bussy, Pascal (Laboratoire des technologies innovantes (L.T.I), Universite de Picardie Jules Verne, GEII)
Publication Information
Journal of Electrical Engineering and Technology / v.11, no.4, 2016 , pp. 1012-1019 More about this Journal
Abstract
A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.
Keywords
Wheeled mobile robot (WMR); Kinematic control; Dynamic control; Nonlinear methods; Theorem Lyapunov; Nonholonomic mobile robot;
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