Adaptive fuzzy sliding mode control of uncertain nonholonomic wheeled mobile robot with external disturbance and actuator saturation

• Published in: Information sciences Vol. 663; p. 120303
• Main Authors: Zheng, Yunjun, Zheng, Jinchuan, Shao, Ke, Zhao, Han, Man, Zhihong, Sun, Zhe
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 01.03.2024
• Subjects: Actuator saturation; Adaptive fuzzy sliding mode; Nonholonomic wheeled mobile robot; Trajectory tracking control; Adaptive fuzzy sliding mode; Nonholonomic wheeled mobile robot; Actuator saturation; Trajectory tracking control
• ISSN: 0020-0255; 1872-6291
• DOI: 10.1016/j.ins.2024.120303

This paper developed a modified barrier function-based adaptive sliding mode control (MBFASMC) method to improve the tracking precision and robustness performance of the nonholonomic wheeled mobile robot (NWMR), which is subject to actuator saturation and external disturbance. Owing to the modified positive semi-definite barrier function (MPSDBF), the requirement for disturbance bound and the overestimation of control gain are eliminated. The nonsingular terminal sliding manifold and MPSDBF-based adaptive mechanism can guarantee that the sliding variables and the posture errors of NWMR converge to precisely predefined ultimate bounds in a finite time. In order to compensate for the adverse effect of input saturation, an auxiliary dynamics is proposed based on saturation error and used to construct the MBFASMC. Compared to the recent anti-saturation control methods, the demand for saturation level is released in the proposed control method. Moreover, a modified barrier function-based adaptive fuzzy sliding mode control (MBFAFSMC) is provided to relieve the control chattering problem. By Lyapunov analysis, it is validated that the proposed methods can ensure the pre-specified and finite-time convergence performance of the uncertain NWMR. The MBFASMC and MBFAFSMC are also applied to an actual NWMR experimental platform with artificial disturbances to verify the effectiveness of the proposed methods. •The finite-time control with predefined precision for nonholonomic wheeled mobile robot with actuator saturation is achieved.•The proposed method eliminates the requirements for saturation level and guarantees the non-overestimation for control gain.•The signal chattering issue is alleviated by introducing an adaptive fuzzy scheme without sacrificing control performance.