- Balkan Journal of Electrical and Computer Engineering
- Vol: 6 Issue: 4
- Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tra...
Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot
Authors : Ahmet DUMLU, Mehmet Rasim YILDIRIM
Pages : 211-216
Doi:10.17694/bajece.459568
View : 7 | Download : 2
Publication Date : 2018-10-28
Article Type : Research
Abstract :In this study, real-time trajectory tracking control of an autonomous mobile robot, actuated by two DC motors, has been designed, analyzed and studied. Two different control approaches such as model based sliding mode (SMC) and the classical proportional–integral–derivative (PID) control are employed to increase the tracking performance of the mobile robot. A model based SMC technique has been presented in order to consider the complete dynamic model of the robot and in order to increase trajectory tracking performance of the system. The experimental outcomes strongly verified that the proposed controller gives a quite well trajectory tracking response and smaller magnitude overshot compared with the classical PID controller.Keywords : PID control, Robot control, Sliding mode control, Trajectory control.