Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair). The proposed control structureis based on two nonlinear sliding surfaces ensuring the trackin...

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Bibliographic Details
Main Authors: Razvan SOLEA, Urbano NUNES, Adrian FILIPESCU, Daniela CERNEGA
Format: Article
Language:English
Published: Universitatea Dunarea de Jos 2009-12-01
Series:Analele Universităţii "Dunărea de Jos" Galaţi: Fascicula III, Electrotehnică, Electronică, Automatică, Informatică
Subjects:
sliding-mode control
trajectory-tracking mode
intelligent wheelchair
mobile robots
Online Access:http://www.ann.ugal.ro/eeai/archives/2009/Lucrare-9-RSolea-p42-50.pdf

Internet

http://www.ann.ugal.ro/eeai/archives/2009/Lucrare-9-RSolea-p42-50.pdf

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