Experimental tests of a sliding mode controller for trajectory tracking of a car-like mobile robot. Issue 1 (19th July 2013)

• Record Type: Journal Article
• Authors: Hamerlain, F.; Floquet, T.; Perruquetti, W.
• Is Part Of: Robotica. Volume 32:Issue 1(2014)
• Page Start: 63
• Page End: 76
• Publication Date: 2013-07-19
• Subjects: Wheeled mobile robot, -- Higher order sliding mode, -- Trajectory tracking, -- Kinematic control, -- Robucar; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574713000623
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: This paper deals with the problem of the practical tracking control of an experimental car-like system called the Robucar. The car-like Robucar is a four-wheeled car in a single steering mode. Based on a kinematic model of the car-like Robucar, a practical tracking controller is designed using the second-order sliding mode control of the super twisting algorithm. Hence, the output tracking of the desired trajectory is achieved, and the tracking errors vanish asymptotically. Experimental tests on the car-like Robucar are presented for simple and real-time nonholonomic trajectories, and comparative results with the conventional sliding controller demonstrate the applicability and efficiency of the proposed controller.