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 : 49 | Download : 10

Publication Date : 2018-10-28

Article Type : Research Paper

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 insert ignore into journalissuearticles values(SMC); and the classical proportional–integral–derivative insert ignore into journalissuearticles values(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

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