Discrete-Time Sliding Mode WMR Control Based on Parameter Identification
| Authors: | Filipescu Adrian, University, Romania
Nunes Urbano, Institute of Systems and Robotics, University of Coimbra, Portugal
Stamatescu Sabin, ASTI Control S.A, Bucharest, Romania |
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| Topic: | 2.5 Robust Control |
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| Session: | Robust Controller Synthesis |
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| Keywords: | discrete-time, robust adaptive sliding-mode controller, wheeled mobile robot |
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Abstract
In this paper a discrete-time adaptive sliding mode controller for wheeled mobile robots (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mode controller has designed on two components, corresponding to angular and position motion, respectively. In order to accomplish the robustness against parameter uncertainties (robot mass and moment of inertia), an on-line closed loop identification scheme is proposed. In both, angular and position motion controllers, on-line estimation of parameters, which depend on robot mass, is used.
