On-line parameter estimation in sliding-mode control of Pioneer 3-DX wheeled mobile robot

Abstract

Abstract:- Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR) are presented in this paper. The dynamical model for mobile robot with one pair of active wheels, time–varying mass and moment of inertia have been used in slidingmode control. Two sliding-mode controllers corresponding to angular and position motion have been designed. Two closed-loop, on-line parameter estimators have been used in order to achieve robustness against parameter uncertainties (robot mass and moment of inertia). Closed-loop circular trajectory tracking Pioneer 3-DX control results are presented. Key-Words:- Discrete-time Pioneer 3-DX model, sliding-mode control, on-line parameter estimation. 1