Regular Papers

International Journal of Control, Automation and Systems 2009; 7(3): 429-435

Published online May 30, 2009

https://doi.org/10.1007/s12555-009-0312-7

© The International Journal of Control, Automation, and Systems

Sliding Mode Control for Trajectory Tracking of Mobile Robot in the RFID Sensor Space

Jun Ho Lee, Cong Lin, Hoon Lim, and Jang Myung Lee*

Pusan National University, Korea

Abstract

This paper presents a sliding mode control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties, it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. A robust control law which is called sliding mode control is proposed for asymptotically stabilizing the mobile robot to a desired trajectory. The posture of the mo-bile robot (including the position and heading direction) is presented and the kinematics equations are established in the two-dimensional coordinates. According to the kinematics equations, the controller is designed to find an acceptable control law so that the tracking error will approximate 0 as the time ap-proaches infinity with an initial error. The RFID sensor space is used to estimate the real posture of the mobile robot. Simulation and experiment demonstrate the efficacy of the proposed system for robust tracking of mobile robots.

Keywords Mobile robot, RFID sensor space, sliding mode, trajectory tracking.

Article

Regular Papers

International Journal of Control, Automation and Systems 2009; 7(3): 429-435

Published online June 1, 2009 https://doi.org/10.1007/s12555-009-0312-7

Copyright © The International Journal of Control, Automation, and Systems.

Sliding Mode Control for Trajectory Tracking of Mobile Robot in the RFID Sensor Space

Jun Ho Lee, Cong Lin, Hoon Lim, and Jang Myung Lee*

Pusan National University, Korea

Abstract

This paper presents a sliding mode control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties, it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. A robust control law which is called sliding mode control is proposed for asymptotically stabilizing the mobile robot to a desired trajectory. The posture of the mo-bile robot (including the position and heading direction) is presented and the kinematics equations are established in the two-dimensional coordinates. According to the kinematics equations, the controller is designed to find an acceptable control law so that the tracking error will approximate 0 as the time ap-proaches infinity with an initial error. The RFID sensor space is used to estimate the real posture of the mobile robot. Simulation and experiment demonstrate the efficacy of the proposed system for robust tracking of mobile robots.

Keywords: Mobile robot, RFID sensor space, sliding mode, trajectory tracking.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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