Discrete-time sliding mode path-tracking control for a wheeled mobile robot

@article{NinoSuarez2006DiscretetimeSM,
  title={Discrete-time sliding mode path-tracking control for a wheeled mobile robot},
  author={P. A. Nino-Suarez and Eduardo Aranda-Bricaire and Mart{\'i}n Velasco-Villa},
  journal={Proceedings of the 45th IEEE Conference on Decision and Control},
  year={2006},
  pages={3052-3057}
}
In this work, it is presented a discrete time control strategy for the solution of the path-tracking problem for a wheeled mobile robot of the type (2,0). It is assumed that the mobile robot is remotely controlled over a communication network that induces a transport delay. The exact discrete-time model of the mobile robot including the induced delay is developed. It is presented a discrete-time strategy control based on a sliding mode approach that allows to solve the path-tracking problem… CONTINUE READING
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