TY - GEN
T1 - Backstepping second order sliding mode control for a car-like robot
AU - Mireles-Perez, Caridad
AU - Cruz-Ortiz, David
AU - Salgado, Ivan
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Over the last decade, the research in autonomous robots has increased the development of mechanisms, navigation, and control schemes. Robots constitute capabilities for doing specific human tasks depending on the mechanism and environment involved. For mobile robots, diverse techniques formulated navigation and control algorithms, some of them have applied sliding modes and other modern robust control techniques. Actually, most control algorithms based their development in the kinematic model. This aims to control a car-like robot mobile robot, with a backstepping strategy. At each step of the bacstepping procedure a second order super-twistng sliding mode algorithm force the states of the kinematic error, after a nonlinear transformation, to zero in finite-time. The proposed controller improves the tracking trajectory task. Numerical results demonstrate the effectiveness of the algorithm. A comparison with a classical proportional-integral-derivative controller enhances the advantages of applying a sliding mode strategy.
AB - Over the last decade, the research in autonomous robots has increased the development of mechanisms, navigation, and control schemes. Robots constitute capabilities for doing specific human tasks depending on the mechanism and environment involved. For mobile robots, diverse techniques formulated navigation and control algorithms, some of them have applied sliding modes and other modern robust control techniques. Actually, most control algorithms based their development in the kinematic model. This aims to control a car-like robot mobile robot, with a backstepping strategy. At each step of the bacstepping procedure a second order super-twistng sliding mode algorithm force the states of the kinematic error, after a nonlinear transformation, to zero in finite-time. The proposed controller improves the tracking trajectory task. Numerical results demonstrate the effectiveness of the algorithm. A comparison with a classical proportional-integral-derivative controller enhances the advantages of applying a sliding mode strategy.
UR - http://www.scopus.com/inward/record.url?scp=85134315267&partnerID=8YFLogxK
U2 - 10.1109/CoDIT55151.2022.9803917
DO - 10.1109/CoDIT55151.2022.9803917
M3 - Contribución a la conferencia
AN - SCOPUS:85134315267
T3 - 2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
SP - 463
EP - 467
BT - 2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
Y2 - 17 May 2022 through 20 May 2022
ER -