@inproceedings{f9675880af7e4ef7a52c9dfdecff9def,
title = "Sliding mode control of a nonholonomic wheeled mobile robot for trajectory tracking",
abstract = "We propose a tracking control of a nonholonomic wheeled mobile robot using variable structure systems. The posture of the mobile robot is represented by polar coordinates and a sliding mode control algorithm is presented for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to system perturbations and measurement errors. Simulation and experimental results confirm the validity of accurate tracking capability and the robust performance of the proposed scheme.",
author = "Kim, {Jong Hwan} and Yang, {Jung Min} and Choi, {In Hwan}",
note = "Publisher Copyright: {\textcopyright} 1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",
year = "1998",
doi = "10.1109/ROBOT.1998.680883",
language = "English",
isbn = "078034300X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2983--2988",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
address = "United States",
}