应用于非完整移动机器人的超扭滑模控制器

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-11-09 DOI:10.1109/ICSTCC.2015.7321274

R. Șolea, D. Cernega

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引用次数: 12

摘要

提出了一种非完整移动机器人系统的超扭滑模控制新方法。在具有参数不确定性和外部干扰的实际移动机器人(Pioneer-3DX)上进行了计算机仿真和实时实现。仿真结果和实际实验表明，与传统的滑模控制器相比，所提出的控制器在到达和沉降时间缩短以及对干扰的鲁棒性方面都有改善。此外，所提出的滑模控制器非常简单，易于在实际的非完整移动机器人中实现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Super twisting sliding mode controller applied to a nonholonomic mobile robot

In this paper, a new approach of the super twisting sliding mode control of nonholonomic mobile robot system is proposed. Computer simulations and real time implementations are performed on a real mobile robot (Pioneer-3DX) with parameter uncertainties and external disturbances. The simulation results and real experiments have shown the improved performance of the proposed controller in terms of a decrease in the reaching and settling times and robustness to disturbances as compared to the conventional sliding mode controller. Moreover, the proposed sliding-mode controller is very simple and easy to implement in real nonholonomic mobile robot.

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来源期刊

2015 19th International Conference on System Theory, Control and Computing (ICSTCC)

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