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Title of Journal: Artif Life Robotics

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Abbravation: Artificial Life and Robotics

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Springer Japan

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DOI

10.1016/0029-554x(70)90330-7

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ISSN

1614-7456

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A novel variable structure theory applied in desig

Authors: ChunChieh Wang
Publish Date: 2011/12/02
Volume: 16, Issue: 3, Pages: 378-382
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Abstract

This article is concerned with the control of wheeled mobile robots WMRs using a modified variable structure theory First we introduce the dynamic characteristics of a WMR Second conventional variable structure control is reviewed In order to considerably improve the transient response during the reaching phase a modified variable structure control is proposed The validity of the proposed variable structure theory is verified by means of a simulation test on a homemade wheeled mobile vehicle The simulation results validate the superiority and practicality of the modified variable structure for WMRs

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