Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot

Yıl 2018, Cilt: 6 Sayı: 4, 211 - 216, 28.10.2018

Ahmet Dumlu , Mehmet Rasim Yıldırım

https://doi.org/10.17694/bajece.459568

Cited By: 1

Öz

In this study, real-time trajectory tracking
control of an autonomous mobile robot, actuated by two DC motors, has been
designed, analyzed and studied. Two different control approaches such as model
based sliding mode (SMC) and the classical proportional–integral–derivative
(PID) control are employed to increase the tracking performance of the mobile
robot. A model based SMC technique has been presented in order to consider the
complete dynamic model of the robot and in order to increase trajectory
tracking performance of the system. The experimental outcomes strongly verified
that the proposed controller gives a quite well trajectory tracking response
and smaller magnitude overshot compared with the classical PID controller.

Anahtar Kelimeler

PID control, Robot control, Sliding mode control, Trajectory control.

Kaynakça

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