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Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

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Author(s): Razvan SOLEA | Urbano NUNES | Adrian FILIPESCU | Daniela CERNEGA

Journal: Annals of Dunarea de Jos
ISSN 1221-454X

Volume: 32;
Issue: 2;
Start page: 42;
Date: 2009;
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Keywords: sliding-mode control | trajectory-tracking mode | intelligent wheelchair | mobile robots

ABSTRACT
This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair). The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.
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