Sliding-Mode Adaptive Control of Pioneer 3-DX Wheeled Mobile Robot

dc.contributor.author	Filipescu, Adrian
dc.contributor.author	Stancu, Alexandru
dc.date.accessioned	2016-01-20T08:38:25Z
dc.date.available	2016-01-20T08:38:25Z
dc.date.issued	2007
dc.identifier.uri	http://10.11.10.50/xmlui/handle/123456789/3892
dc.description	The Annals of "Dunarea de Jos" University of Galati	en_US
dc.description.abstract	Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR) are presented in this paper. The dynamical model for mobile robot with one pair of active wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been used in order to achieve robustness against parameter uncertainties (robot mass and moment of inertia). Two sliding-mode adaptive controllers corresponding to angular and position motion have been designed. Closed-loop circular trajectory tracking Pioneer 3-DX real-time control is presented	en_US
dc.language.iso	en	en_US
dc.publisher	"Dunarea de Jos" University of Galati	en_US
dc.subject	Discrete-time Pioneer 3-DX model	en_US
dc.subject	sliding-mode adaptive control	en_US
dc.subject	on-line parameter estimation	en_US
dc.title	Sliding-Mode Adaptive Control of Pioneer 3-DX Wheeled Mobile Robot	en_US
dc.type	Article	en_US