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	Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE)
	Xie M.-J. ; Li L.-T. ; Wang Z.-Q.
	2012
会议名称	10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012
会议地点	Beijing, China
关键词	The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking and reduces the tracking error and the chattering of the control output. 2012 IEEE.
页码	2706-2709
收录类别	EI
内容类型	会议论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/33214]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Xie M.-J.,Li L.-T.,Wang Z.-Q.. Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE)[C]. 见:10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012. Beijing, China.

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