Accéder directement au contenu Accéder directement à la navigation
Article dans une revue

Robust Nonlinear Control of a Mobile Robot

Abstract : A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.
Type de document :
Article dans une revue
Liste complète des métadonnées
Contributeur : Louise DESSAIVRE Connectez-vous pour contacter le contributeur
Soumis le : mardi 5 avril 2022 - 10:37:54
Dernière modification le : mercredi 31 août 2022 - 09:54:26

Lien texte intégral




Ghania Zidani, Said Drid, Larbi Chrifi-Alaoui, Djemai Arar, Pascal Bussy. Robust Nonlinear Control of a Mobile Robot. Journal of Electrical Engineering & Technology, Springer, 2016, 11 (4), pp.1012-1019. ⟨10.5370/JEET.2016.11.4.1012⟩. ⟨hal-03630620⟩



Consultations de la notice