Sliding mode control of a car-like mobile robot using single-track dynamic model

  • A. Stotsky
  • X. Hu
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 247)


An easy-to-implement global trajectory tracking algorithm in the class of variable structure systems is designed and analyzed within the single-track dynamical model framework. The algorithm uses measurements of the position, orientation and the yaw rate of the robot and is robust with respect to the parameter variations.


Mobile Robot Slide Mode Control Rear Wheel Automate Vehicle Guidance Sideslip Angle 
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Copyright information

© Springer-Verlag 1999

Authors and Affiliations

  • A. Stotsky
    • 1
  • X. Hu
    • 2
  1. 1.Department of Signals and Systems SEControl Engineering LaboratoryGothenburgSweden
  2. 2.Optimization and Systems TheoryRoyal Institute of Technology SEStockholmSweden

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