Sliding mode control of a differential-drive mobile robot following a path

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/172543

dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria Elèctrica
dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica
dc.contributor	Universitat Politècnica de Catalunya. Departament de Matemàtiques
dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.contributor.author	Dòria Cerezo, Arnau
dc.contributor.author	Biel Solé, Domingo
dc.contributor.author	Olm Miras, Josep Maria
dc.contributor.author	Repecho del Corral, Víctor
dc.date	2019
dc.identifier.citation	Doria-Cerezo, A. [et al.]. Sliding mode control of a differential-drive mobile robot following a path. A: European Control Conference. "Proceedings of the 18th European Control Conference (ECC): Naples, Italy: June 25-28, 2019". Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 4061-4066.
dc.identifier.citation	978-1-728113-14-2
dc.identifier.citation	10.23919/ECC.2019.8796166
dc.identifier.uri	http://hdl.handle.net/2117/172543
dc.language.iso	eng
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.relation	https://ieeexplore.ieee.org/document/8796166
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Àrees temàtiques de la UPC::Informàtica
dc.subject	Mobile robots
dc.subject	Robotics
dc.subject	Mobile robots
dc.subject	Nonlinear control systems
dc.subject	Position control
dc.subject	Stability Variable structure systems
dc.subject	Robots mòbils
dc.subject	Robòtica
dc.title	Sliding mode control of a differential-drive mobile robot following a path
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.description.abstract	This paper presents a control algorithm for a differential-drive robot following a path. The main contributions are: a new control formulation that does not require the robot global position, and a nonlinear controller based on the sliding mode control approach that guarantees stability in both forward and backward motion. Numerical simulations are provided to validate the proposed algorithm.

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