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REAL-TIME SLIDING-MODE ADAPTIVE CONTROL OF A MOBILE PLATFORM WHEELED MOBILE ROBOT

2008; Elsevier BV; Volume: 41; Issue: 2 Linguagem: Inglês

10.3182/20080706-5-kr-1001.00740

2589-3653

Adrian Filipescu, Al. Stancu, S. Filipescu, Grigore Stâmâtescu,

Robotic Locomotion and Control

This paper presents parameter identification and discrete-time adaptive sliding-mode controller applied to control the mobile platform Pioneer 3-DX wheeled mobile robot (WMR) with 5-DOF manipulator. The dynamic model for mobile robot with two driving wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been used in order to achieve robustness against parameter uncertainties (robot mass and moment of inertia). Two sliding-mode adaptive controllers have been designed corresponding to angular and linear motion. This paper presents closed-loop, circular trajectory tracking real-time control for the mobile robot Pioneer 3-DX.