Modeling and Performance Evaluation for Trajectory Tracking Control of a Wheeled Mobile Robot
نویسندگان
چکیده
The wheeled mobile robot is a nonlinear system. The trajectory tracking control problem is solved using the sliding mode control. In this paper four control laws are modeled and the system performances are investigated. The sliding mode control laws for the trajectory tracking problem are simulated and then implemented on the PatrolBot Robot. The performances are analyzed in order to establish some rules. The analysis conclusions are based on the simulation results and on the implementation of the control laws on the PatrolBot Robot.
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