Sliding mode control of a unicycle type differential-drive mobile robot following a path

In this thesis a control design for a unicycle type differential-drive mobile robot following a path will be developed. The control algorithm will be based on sliding mode technique and some simulations will be carried out to validate it. Finally, the simulation results will be shown using Pygame.

Detalhes bibliográficos
Autor: Barea Fernández, Arístides
Formato: tesis de maestría
Fecha de publicación:2017
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/108389
Acesso em linha:https://hdl.handle.net/2117/108389
Access Level:acceso abierto
Palavra-chave:Mobile robots
Robots mòbils
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Sliding mode control of a unicycle type differential-drive mobile robot following a pathBarea Fernández, ArístidesMobile robotsRobots mòbilsÀrees temàtiques de la UPC::Informàtica::RobòticaIn this thesis a control design for a unicycle type differential-drive mobile robot following a path will be developed. The control algorithm will be based on sliding mode technique and some simulations will be carried out to validate it. Finally, the simulation results will be shown using Pygame.Universitat Politècnica de CatalunyaDòria Cerezo, Arnau20172017-09-1320172017-10-05master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/108389reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1083892026-05-27T15:37:01Z
dc.title.none.fl_str_mv Sliding mode control of a unicycle type differential-drive mobile robot following a path
title Sliding mode control of a unicycle type differential-drive mobile robot following a path
spellingShingle Sliding mode control of a unicycle type differential-drive mobile robot following a path
Barea Fernández, Arístides
Mobile robots
Robots mòbils
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Sliding mode control of a unicycle type differential-drive mobile robot following a path
title_full Sliding mode control of a unicycle type differential-drive mobile robot following a path
title_fullStr Sliding mode control of a unicycle type differential-drive mobile robot following a path
title_full_unstemmed Sliding mode control of a unicycle type differential-drive mobile robot following a path
title_sort Sliding mode control of a unicycle type differential-drive mobile robot following a path
dc.creator.none.fl_str_mv Barea Fernández, Arístides
author Barea Fernández, Arístides
author_facet Barea Fernández, Arístides
author_role author
dc.contributor.none.fl_str_mv Dòria Cerezo, Arnau
dc.subject.none.fl_str_mv Mobile robots
Robots mòbils
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Mobile robots
Robots mòbils
Àrees temàtiques de la UPC::Informàtica::Robòtica
description In this thesis a control design for a unicycle type differential-drive mobile robot following a path will be developed. The control algorithm will be based on sliding mode technique and some simulations will be carried out to validate it. Finally, the simulation results will be shown using Pygame.
publishDate 2017
dc.date.none.fl_str_mv 2017
2017-09-13
2017
2017-10-05
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/108389
url https://hdl.handle.net/2117/108389
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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