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Published in:
2012 | OriginalPaper | Chapter
Discrete-Time Sliding-Mode Control of a Mobile Platform with Four Driving/Steering Wheels
Authors : Adrian Filipescu, Viorel Minzu, Adriana Filipescu, Eugenia Minca
Published in: Advances in Automation and Robotics, Vol.1
Publisher: Springer Berlin Heidelberg
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In this paper the problem of trajectory tracking of the four-driving/steering wheels (4DW/SW) mobile platform SEEKUR, by means of a discrete-time sliding mode controller is presented. SEEKUR is a mobile platform which may be assimilated as an autonomous vehicle. Commercially available, both holonomic and nonholomic, all-weather, outdoor autonomous vehicle platform suitable for a wide range of security, military inspection and research applications. The discrete-time sliding-mode controller has been designed using a discrete time nonholonomic model of SEEKUR. Simulation and real-time results are presented in trajectory tracking control.