TY  - JOUR
T1  - Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot
AU  - Dumlu, Ahmet
AU  - Yıldırım, Mehmet Rasim
PY  - 2018
DA  - October
DO  - 10.17694/bajece.459568
JF  - Balkan Journal of Electrical and Computer Engineering
PB  - MUSA YILMAZ
WT  - DergiPark
SN  - 2147-284X
SP  - 211
EP  - 216
VL  - 6
IS  - 4
LA  - en
AB  - In this study, real-time trajectory trackingcontrol of an autonomous mobile robot, actuated by two DC motors, has beendesigned, analyzed and studied. Two different control approaches such as modelbased sliding mode (SMC) and the classical proportional–integral–derivative(PID) control are employed to increase the tracking performance of the mobilerobot. A model based SMC technique has been presented in order to consider thecomplete dynamic model of the robot and in order to increase trajectorytracking performance of the system. The experimental outcomes strongly verifiedthat the proposed controller gives a quite well trajectory tracking responseand smaller magnitude overshot compared with the classical PID controller.
KW  - PID control
KW  - Robot control
KW  - Sliding mode control
KW  - Trajectory control.
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UR  - https://doi.org/10.17694/bajece.459568
L1  - https://dergipark.org.tr/en/download/article-file/562383
ER  -