2004•Unpublished venueRequires access

Sliding mode control applied to mobile robot: continuous-time and discrete-time cases

Mustapha Hamerlain, T. Alalouche

Abstract

In this work a sliding mode controller solution is proposed for tracking problems associated to well known types of mobile robots. The robustness property of the sliding mode controller for the continuous-time systems can thus be extended to the discrete-time systems under others conditions for existence sliding modes. Simulation results are presented to illustrate the effectiveness of the approach in two cases continuous-time and discrete-time.

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Available abstract

Key concepts: Discrete time and continuous time, Sliding mode control, Control theory (sociology), Robustness (evolution), Mobile robot, Computer science, Controller (irrigation), Mode (computer interface)