Sliding Mode Control for Trajectory Tracking of a TurtleBot3 Mobile Robot in Obstacle Environments
Year: 2024
Type: conference-paper
Abstract: The proposed work presents a Sliding Mode Controller (SMC) for trajectory tracking of a TurtleBot3 Burger mobile robot based on sliding mode. Trajectory tracking is performed in congested environments; therefore, an obstacle avoidance strategy is presented to prevent the robot from colliding with obstacles. A clear and detailed methodology is developed for the design of the SMC controller with a PID sliding surface for trajectory tracking that can be extrapolated to position control and posture control. The discontinuous part of the SMC is used to ensure that the robot tends to the desired reference whenever an obstacle appears. The stability analysis of the proposed controller is presented, and the experimental results are shown, demonstrating the good performance of the controller.
Authors: Jacob Riera, Sebastián Cachiguango, Michael Pedraza, Gabriela M. Andaluz, Paulo Leica
Institutions: National Polytechnic School, Universidad de Zaragoza
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
OpenAlex ID: W4404486156