Control of mobile robot for trajectory tracking by sliding mode control technique

Ankit Sharma; Vikas Panwar

doi:10.1109/ICEEOT.2016.7755463

Control of mobile robot for trajectory tracking by sliding mode control technique

Ankit Sharma
, Vikas Panwar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

In this paper sliding mode controller is presented for the trajectory tracking by wheel mobile robot. Kinematic and dynamic model of mobile robot are derived using Lagrangian formulation. To achieve the desired trajectory tracking an auxiliary velocity controller is proposed based on the available error between the auxiliary velocity and actual velocity of wheel mobile robot. Sliding mode controller is proposed to produce the required torque signal at the wheels of mobile robot. The overall controller is shown to be asymptotically stable using Lyapunov stability theory. The errors of the system are shown to converge to zero. Finally the simulation result are presented to validate the proposed controller.

Original language	English
Title of host publication	International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3988-3994
Number of pages	7
ISBN (Electronic)	9781467399395
DOIs	https://doi.org/10.1109/ICEEOT.2016.7755463
Publication status	Published - 22-11-2016
Event	2016 International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016 - Palnchur, Chennai, Tamilnadu, India Duration: 03-03-2016 → 05-03-2016

Publication series

Name	International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016

Conference

Conference	2016 International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016
Country/Territory	India
City	Palnchur, Chennai, Tamilnadu
Period	03-03-16 → 05-03-16

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Electronic, Optical and Magnetic Materials
Control and Optimization

Access to Document

10.1109/ICEEOT.2016.7755463

Cite this

Sharma, A., & Panwar, V. (2016). Control of mobile robot for trajectory tracking by sliding mode control technique. In International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016 (pp. 3988-3994). Article 7755463 (International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICEEOT.2016.7755463

Sharma, Ankit ; Panwar, Vikas. / Control of mobile robot for trajectory tracking by sliding mode control technique. International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 3988-3994 (International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016).

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title = "Control of mobile robot for trajectory tracking by sliding mode control technique",

abstract = "In this paper sliding mode controller is presented for the trajectory tracking by wheel mobile robot. Kinematic and dynamic model of mobile robot are derived using Lagrangian formulation. To achieve the desired trajectory tracking an auxiliary velocity controller is proposed based on the available error between the auxiliary velocity and actual velocity of wheel mobile robot. Sliding mode controller is proposed to produce the required torque signal at the wheels of mobile robot. The overall controller is shown to be asymptotically stable using Lyapunov stability theory. The errors of the system are shown to converge to zero. Finally the simulation result are presented to validate the proposed controller.",

author = "Ankit Sharma and Vikas Panwar",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016 ; Conference date: 03-03-2016 Through 05-03-2016",

year = "2016",

month = nov,

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doi = "10.1109/ICEEOT.2016.7755463",

language = "English",

series = "International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016",

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Sharma, A & Panwar, V 2016, Control of mobile robot for trajectory tracking by sliding mode control technique. in International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016., 7755463, International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016, Institute of Electrical and Electronics Engineers Inc., pp. 3988-3994, 2016 International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016, Palnchur, Chennai, Tamilnadu, India, 03-03-16. https://doi.org/10.1109/ICEEOT.2016.7755463

Control of mobile robot for trajectory tracking by sliding mode control technique. / Sharma, Ankit; Panwar, Vikas.
International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 3988-3994 7755463 (International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Control of mobile robot for trajectory tracking by sliding mode control technique

AU - Sharma, Ankit

AU - Panwar, Vikas

PY - 2016/11/22

Y1 - 2016/11/22

N2 - In this paper sliding mode controller is presented for the trajectory tracking by wheel mobile robot. Kinematic and dynamic model of mobile robot are derived using Lagrangian formulation. To achieve the desired trajectory tracking an auxiliary velocity controller is proposed based on the available error between the auxiliary velocity and actual velocity of wheel mobile robot. Sliding mode controller is proposed to produce the required torque signal at the wheels of mobile robot. The overall controller is shown to be asymptotically stable using Lyapunov stability theory. The errors of the system are shown to converge to zero. Finally the simulation result are presented to validate the proposed controller.

AB - In this paper sliding mode controller is presented for the trajectory tracking by wheel mobile robot. Kinematic and dynamic model of mobile robot are derived using Lagrangian formulation. To achieve the desired trajectory tracking an auxiliary velocity controller is proposed based on the available error between the auxiliary velocity and actual velocity of wheel mobile robot. Sliding mode controller is proposed to produce the required torque signal at the wheels of mobile robot. The overall controller is shown to be asymptotically stable using Lyapunov stability theory. The errors of the system are shown to converge to zero. Finally the simulation result are presented to validate the proposed controller.

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UR - https://www.scopus.com/pages/publications/85006795161#tab=citedBy

U2 - 10.1109/ICEEOT.2016.7755463

DO - 10.1109/ICEEOT.2016.7755463

M3 - Conference contribution

AN - SCOPUS:85006795161

T3 - International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016

SP - 3988

EP - 3994

BT - International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016

Y2 - 3 March 2016 through 5 March 2016

ER -

Sharma A, Panwar V. Control of mobile robot for trajectory tracking by sliding mode control technique. In International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 3988-3994. 7755463. (International Conference on Electrical, Electronics, and Optimization Techniques, ICEEOT 2016). doi: 10.1109/ICEEOT.2016.7755463

Control of mobile robot for trajectory tracking by sliding mode control technique

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