Adaptive sliding mode trajectory tracking control for wheeled mobile robots

This paper discusses the problem of adaptive sliding mode trajectory tracking control for wheeled mobile robots in the presence of external disturbances and inertia uncertainties. A new fast nonsingular terminal sliding mode surface without any constraint is proposed, which not only avoids singulari...

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Bibliographic Details
Published inInternational journal of control Vol. 92; no. 10; pp. 2255 - 2262
Main Authors Zhai, Jun-yong, Song, Zhi-bao
Format Journal Article
LanguageEnglish
Published Abingdon Taylor & Francis 03.10.2019
Taylor & Francis Ltd
Subjects
Adaptive control
Angular velocity
Control stability
Control theory
Robot control
Sliding mode control
Subsystems
terminal sliding mode
Tracking control
Trajectory control
wheeled mobile robots
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Summary:This paper discusses the problem of adaptive sliding mode trajectory tracking control for wheeled mobile robots in the presence of external disturbances and inertia uncertainties. A new fast nonsingular terminal sliding mode surface without any constraint is proposed, which not only avoids singularity, but also retains the advantages of sliding mode control. In order to implement the trajectory tracking mission, the error dynamic system is divided into a second-order subsystem and a third-order one. First, an adaptive fast nonsingular terminal sliding mode control law of the angular velocity is constructed for stabilising the second-order subsystem in finite time. Then, another adaptive fast nonsingular terminal sliding mode control law of the linear velocity is designed to guarantee the stability of the third-order subsystem. Finally, a simulation example is provided to demonstrate the validity of the proposed control scheme.
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content type line 14
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2018.1436194