Path Following Controller Design Using Sliding Mode Control Theory

Oǧuz H. Daǧci, Umit Ogras, Ümit Özgüner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Scopus citations


In this paper, the problem of "path following" is addressed for a specific type of wheeled mobile robot. Two path following algorithms are developed and implemented by taking sliding mode control theory into consideration. First, an algorithm synthesizing the reference signal by the use of the position information is devised. Then, two sliding mode controllers are developed, one for the kinematic model and one for the dynamic model of the mobile robot. The reference signal synthesis method is generalized by including the coordinate transformation in the design. The algorithms are tested both by simulations and experiments for different reference paths. It is observed that the proposed techniques meet the predefined performance specifications satisfactorily.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Number of pages6
StatePublished - 2003
Externally publishedYes
Event2003 American Control Conference - Denver, CO, United States
Duration: Jun 4 2003Jun 6 2003


Other2003 American Control Conference
Country/TerritoryUnited States
CityDenver, CO

ASJC Scopus subject areas

  • Control and Systems Engineering


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