Path Following Controller Design Using Sliding Mode Control Theory

Proceedings of the American Control Conference

Volumn 1, Issue , 2003, Pages 903-908

  Daǧci, Oǧuz H ^a   Oǧraş, Ümit Y ^a   Özgüner, Ümit ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONTROL THEORY; MOBILE ROBOTS;

SIGNAL SYNTHESIS;

SLIDING MODE CONTROL;

EID: 0142154875     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. James L. Crowley and Patrick Reignier. Asynchronous control of rotation and translation for a robot vehicle. Robotics and Autonomous Systems, 10:243-251, 1992.
2. rd Conference on Decision and Control, pages 2967-2972, Lake Buena Vista, Florida, December 1994.
3. Cem Hatipoǧlu, Keith Redmill, and Ümit Özgüner. Steering and lane change: A working system. In Proceedings of IEEE Conference on Intelligent Transportation Systems, Boston, Massachusetts, November 1997.
4. Yutaka Kanayama and Fariba Fahroo. A new line tracking method for nonholonomic vehicles. In Proceedings of IEEE International Conference on Robotics and Automation, pages 2908-2913, Albuquerque, New Mexico, April 1997.
5. Yutaka Kanayama, Yoshihiko Kimura, Fumio Miyazaki, and Tetsuo Noguchi. A stable tracking control method for an autonomous mobile robot. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 384-389, Cincinnati, Ohio, May 1990.
6. Yutaka Kanayama, Yoshihiko Kimura, Fumio Miyazaki, and Tetsuo Noguchi. A stable tracking control method for a non-holonomic mobile robot. In IEEE/RSJ International Workshop on Intelligent Robots and Systems IROS'91, pages 1236-1241, Osaka, JAPAN, November 1991.
7. Yutaka Kanayama, Amir Nilipour, and Charles Anthony Lelm. A locomotion control method for autonomous vehicles. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1315-1317, Philadelphia, Pennsylvania, April 1988.
8. Jean-Jacques E. Slotine and Weiping Li. Applied Nonlinear Control. Prentice Hall, 1991.
9. Mark W. Spong and M. Vidyasagar. Robot Dynamics and Control. John Wiley, 1989.
10. Vadim Utkin, Jürgen Guldner, and Jingxin Shi. Sliding Mode Control in Electromechanical Systems. Taylor & Francis, 1999.
11. Vadim I. Utkin, Sergey V. Drakunov, Hideki Hashimoto, and Fumio Harashima. Robot path obstacle avoidance control via sliding mode approach. In IEEE/RSJ International Workshop on Intelligent Robots and Systems IROS'91, pages 1287-1290, Osaka, JAPAN, November 1991.