Abstract
In this note, the tracking trajectory problem for a wheeled mobile base has been addressed, considering the presence of disturbances violating the nonholonomic constraint. The proposed solution is based on discrete time sliding mode control, in order to ensure both robustness and implementability of the controller. The asymptotic boundedness of the tracking errors has been theoretically proved, and experimental results have been reported, showing the effectiveness of the proposed control law.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.