Dynamic Control of Wheeled Mobile Robot Usingsliding
نویسندگان
چکیده
In this paper, we present a new robot ROMAIN. We describe the used mechanical, hardware and software architecture. This open structure is realized with a serial high speed bus : CAN. We develop the contraint and dynamic equations and we explain the state system. To control this robot, we use a variable structure control to track desired trajectories. However, this control method is too constraining to DC motor. We adjust this controller to implement it in the view to delete the chaterring. Diierent simulations are performed to show the eeciency of this controller.
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