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...

Full description

Saved in:
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
Online AccessGet full text

Cover

Abstract 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.
AbstractList 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.
Author Zhai, Jun-yong
Song, Zhi-bao
Author_xml – sequence: 1
  givenname: Jun-yong
  orcidid: 0000-0001-5122-3819
  surname: Zhai
  fullname: Zhai, Jun-yong
  email: jyzhai@seu.edu.cn
  organization: School of Automation, Southeast University
– sequence: 2
  givenname: Zhi-bao
  surname: Song
  fullname: Song, Zhi-bao
  organization: School of Automation, Southeast University
BookMark eNqFkMtKAzEUhoMo2FYfQRhwPTWXmUkGN5biDQtudB1y1dR0UpPU0rd3htaNC12dA-f7z0m-MTjuQmcAuEBwiiCDVxBiSBFtpxgiNkUVaVBbHYERIk1T1gzDYzAamHKATsE4pSWEiNQMjcDTTIt1dl-mSN5p170Vq6BNkaNYGpVD3A2t-hgGKnQ5Bl_YEIvtuzHe6B6WzpsiBhlyOgMnVvhkzg91Al7vbl_mD-Xi-f5xPluUihCWSw0FUwg1poFSmv4lWFuMJCK0srViimKFBVJaU4Yoq4RtrbKNFK2EkmgryQRc7veuY_jcmJT5Mmxi15_kGDeMNZBS2lP1nlIxpBSN5evoViLuOIJ88MZ_vPHBGz9463PXv3LKZZHd8Hvh_L_pm33adb2nldiG6DXPYudDtFF0yiVO_l7xDXdViVE
CitedBy_id crossref_primary_10_1016_j_amc_2022_127372
crossref_primary_10_1016_j_isatra_2018_12_046
crossref_primary_10_1016_j_chaos_2021_111674
crossref_primary_10_1016_j_isatra_2021_01_007
crossref_primary_10_1016_j_compeleceng_2021_107579
crossref_primary_10_1007_s11071_024_10350_2
crossref_primary_10_1007_s40430_020_02362_x
crossref_primary_10_1017_S0263574724001140
crossref_primary_10_1080_00207721_2024_2344059
crossref_primary_10_3390_app10175858
crossref_primary_10_1177_0036850420952219
crossref_primary_10_1007_s12555_019_0814_x
crossref_primary_10_1002_rnc_5926
crossref_primary_10_1007_s40430_020_02370_x
crossref_primary_10_1049_cth2_12284
crossref_primary_10_31763_ijrcs_v3i2_997
crossref_primary_10_1051_e3sconf_202449602005
crossref_primary_10_1002_asjc_3608
crossref_primary_10_1016_j_isatra_2023_03_014
crossref_primary_10_1177_10775463211051460
crossref_primary_10_3390_electronics10060760
crossref_primary_10_1109_TITS_2024_3451509
crossref_primary_10_1080_00207179_2023_2284252
crossref_primary_10_1002_rnc_6343
crossref_primary_10_3390_math12131985
crossref_primary_10_1177_10775463241276026
crossref_primary_10_1080_00051144_2024_2391246
crossref_primary_10_1016_j_nahs_2021_101077
crossref_primary_10_3390_sym15010221
crossref_primary_10_1109_TFUZZ_2023_3234585
crossref_primary_10_1007_s11071_021_06984_1
crossref_primary_10_1016_j_ifacol_2023_10_1404
crossref_primary_10_1177_1729881420968528
crossref_primary_10_3390_pr11041202
crossref_primary_10_3390_e25010027
crossref_primary_10_1002_rnc_6093
crossref_primary_10_1109_TITS_2024_3382816
crossref_primary_10_3390_act10090222
crossref_primary_10_1007_s12555_019_0643_y
crossref_primary_10_1177_01423312251316140
crossref_primary_10_1007_s40435_024_01459_8
crossref_primary_10_1016_j_dt_2021_03_005
crossref_primary_10_1002_asjc_3541
crossref_primary_10_1016_j_matcom_2021_10_028
crossref_primary_10_1109_TIE_2024_3433532
crossref_primary_10_1007_s12555_023_0207_z
crossref_primary_10_1007_s40435_020_00617_y
crossref_primary_10_1080_00207179_2019_1598580
crossref_primary_10_1080_00207179_2022_2111605
crossref_primary_10_1186_s10033_023_00988_1
crossref_primary_10_1080_00207179_2020_1712478
crossref_primary_10_1109_ACCESS_2022_3146970
crossref_primary_10_1049_cth2_12189
crossref_primary_10_1177_01423312241236134
crossref_primary_10_1177_01423312241286352
crossref_primary_10_1007_s12555_019_0156_8
crossref_primary_10_1016_j_conengprac_2022_105078
crossref_primary_10_1016_j_mechmachtheory_2021_104634
crossref_primary_10_1177_1077546321999185
crossref_primary_10_1177_01423312241283522
crossref_primary_10_1016_j_isatra_2022_04_021
crossref_primary_10_1109_ACCESS_2020_2982740
crossref_primary_10_3390_math12101458
crossref_primary_10_3390_sym15071354
crossref_primary_10_1080_00207179_2024_2367598
crossref_primary_10_1007_s40430_020_02645_3
crossref_primary_10_1109_JAS_2023_124002
crossref_primary_10_1139_tcsme_2019_0083
crossref_primary_10_1080_00207179_2019_1585576
crossref_primary_10_1007_s12555_023_0454_z
crossref_primary_10_1080_00207179_2020_1841911
crossref_primary_10_1007_s12206_023_0432_7
crossref_primary_10_3390_s25051616
crossref_primary_10_1016_j_amc_2021_126349
crossref_primary_10_3390_math12172657
crossref_primary_10_1155_2022_6462085
crossref_primary_10_1007_s11071_022_07682_2
crossref_primary_10_1016_j_dt_2023_01_001
crossref_primary_10_1002_rnc_7937
crossref_primary_10_1007_s11071_020_06188_z
crossref_primary_10_1177_09544062241238806
crossref_primary_10_1177_0142331218811462
crossref_primary_10_3390_agriculture10110523
crossref_primary_10_1002_acs_3747
crossref_primary_10_3390_ma16020683
crossref_primary_10_1002_acs_3104
crossref_primary_10_1002_oca_2744
crossref_primary_10_3390_computers13110301
crossref_primary_10_3390_s24113616
crossref_primary_10_1109_TIE_2020_2989711
crossref_primary_10_1109_ACCESS_2020_3030633
crossref_primary_10_1080_00207721_2025_2470405
crossref_primary_10_1002_rnc_5744
crossref_primary_10_1177_0142331220961700
crossref_primary_10_1016_j_compeleceng_2021_107488
crossref_primary_10_1016_j_isatra_2020_08_025
crossref_primary_10_1109_ACCESS_2020_2968421
crossref_primary_10_3390_math13040649
crossref_primary_10_1109_TVT_2019_2950288
crossref_primary_10_1177_1729881420926429
crossref_primary_10_1002_asjc_3503
crossref_primary_10_1002_rnc_5473
crossref_primary_10_1002_rnc_5196
crossref_primary_10_1016_j_robot_2022_104146
Cites_doi 10.1016/j.isatra.2016.01.005
10.1016/j.automatica.2013.12.036
10.1080/00207179.2015.1079735
10.1109/TAC.2010.2088610
10.1016/j.automatica.2013.09.001
10.1080/00207721.2012.724113
10.1109/9.905699
10.1016/j.automatica.2004.11.036
10.1016/j.robot.2011.06.005
10.1016/j.isatra.2016.02.023
10.1016/j.neucom.2015.02.101
10.1016/j.rcim.2010.07.007
10.1109/TMECH.2009.2014057
10.1016/j.sysconle.2012.11.020
10.1016/j.ifacol.2015.11.272
10.1109/9.668834
10.1016/j.neucom.2015.11.099
10.1109/TCST.2004.824953
10.1016/j.robot.2016.01.002
10.1016/j.ins.2014.06.037
10.1109/TCST.2008.922584
10.1016/S0167-6911(00)00104-3
ContentType Journal Article
Copyright 2018 Informa UK Limited, trading as Taylor & Francis Group 2018
2018 Informa UK Limited, trading as Taylor & Francis Group
Copyright_xml – notice: 2018 Informa UK Limited, trading as Taylor & Francis Group 2018
– notice: 2018 Informa UK Limited, trading as Taylor & Francis Group
DBID AAYXX
CITATION
7SC
7SP
7TB
8FD
FR3
JQ2
L7M
L~C
L~D
DOI 10.1080/00207179.2018.1436194
DatabaseName CrossRef
Computer and Information Systems Abstracts
Electronics & Communications Abstracts
Mechanical & Transportation Engineering Abstracts
Technology Research Database
Engineering Research Database
ProQuest Computer Science Collection
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
DatabaseTitle CrossRef
Technology Research Database
Computer and Information Systems Abstracts – Academic
Mechanical & Transportation Engineering Abstracts
Electronics & Communications Abstracts
ProQuest Computer Science Collection
Computer and Information Systems Abstracts
Engineering Research Database
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts Professional
DatabaseTitleList Technology Research Database
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISSN 1366-5820
EndPage 2262
ExternalDocumentID 10_1080_00207179_2018_1436194
1436194
Genre Article
GrantInformation_xml – fundername: National Natural Science Foundation of China
  grantid: 61473082
  funderid: 10.13039/501100001809
GroupedDBID -~X
.7F
.QJ
0BK
0R~
29J
2DF
30N
4.4
5GY
5VS
AAENE
AAJMT
AALDU
AAMIU
AAPUL
AAQRR
ABCCY
ABFIM
ABHAV
ABJNI
ABLIJ
ABPAQ
ABPEM
ABTAI
ABXUL
ABXYU
ACBEA
ACGEJ
ACGFO
ACGFS
ACIWK
ACTIO
ADCVX
ADGTB
ADIYS
ADXPE
AEISY
AENEX
AEOZL
AEPSL
AEYOC
AFKVX
AGDLA
AGMYJ
AHDZW
AIJEM
AJWEG
AKBVH
AKOOK
ALMA_UNASSIGNED_HOLDINGS
ALQZU
AQRUH
AVBZW
AWYRJ
BLEHA
CCCUG
CE4
CS3
DGEBU
DKSSO
DU5
EBS
EJD
E~A
E~B
F5P
GTTXZ
H13
HF~
HZ~
H~P
IPNFZ
J.P
KYCEM
LJTGL
M4Z
NA5
NX~
O9-
P2P
RIG
RNANH
ROSJB
RTWRZ
S-T
SNACF
TBQAZ
TDBHL
TEN
TFL
TFT
TFW
TN5
TNC
TTHFI
TUROJ
TWF
UT5
UU3
ZGOLN
~S~
AAGDL
AAHIA
AAYXX
ADYSH
AFRVT
AIYEW
AMPGV
AMVHM
CITATION
7SC
7SP
7TB
8FD
FR3
JQ2
L7M
L~C
L~D
TASJS
ID FETCH-LOGICAL-c338t-d0a8c116e60bbe0012df21b1374f5c8c72c2a1cdd781784af9fcf6ba9b0b3dfb3
ISSN 0020-7179
IngestDate Fri Jul 25 04:46:55 EDT 2025
Tue Jul 01 03:39:10 EDT 2025
Thu Apr 24 22:55:15 EDT 2025
Wed Dec 25 09:08:26 EST 2024
IsPeerReviewed true
IsScholarly true
Issue 10
Language English
LinkModel OpenURL
MergedId FETCHMERGED-LOGICAL-c338t-d0a8c116e60bbe0012df21b1374f5c8c72c2a1cdd781784af9fcf6ba9b0b3dfb3
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ORCID 0000-0001-5122-3819
PQID 2268860777
PQPubID 176145
PageCount 8
ParticipantIDs crossref_primary_10_1080_00207179_2018_1436194
proquest_journals_2268860777
informaworld_taylorfrancis_310_1080_00207179_2018_1436194
crossref_citationtrail_10_1080_00207179_2018_1436194
ProviderPackageCode CITATION
AAYXX
PublicationCentury 2000
PublicationDate 2019-10-03
PublicationDateYYYYMMDD 2019-10-03
PublicationDate_xml – month: 10
  year: 2019
  text: 2019-10-03
  day: 03
PublicationDecade 2010
PublicationPlace Abingdon
PublicationPlace_xml – name: Abingdon
PublicationTitle International journal of control
PublicationYear 2019
Publisher Taylor & Francis
Taylor & Francis Ltd
Publisher_xml – name: Taylor & Francis
– name: Taylor & Francis Ltd
References cit0011
Khalil H (cit0014) 2002
cit0022
cit0012
cit0023
cit0020
cit0010
cit0021
cit0008
cit0019
cit0009
cit0006
cit0007
cit0018
cit0004
cit0015
cit0026
cit0016
cit0027
cit0002
cit0013
cit0003
cit0025
References_xml – ident: cit0025
  doi: 10.1016/j.isatra.2016.01.005
– ident: cit0011
  doi: 10.1016/j.automatica.2013.12.036
– ident: cit0020
  doi: 10.1080/00207179.2015.1079735
– ident: cit0019
  doi: 10.1109/TAC.2010.2088610
– ident: cit0016
  doi: 10.1016/j.automatica.2013.09.001
– volume-title: Nonlinear systems
  year: 2002
  ident: cit0014
– ident: cit0026
  doi: 10.1080/00207721.2012.724113
– ident: cit0008
  doi: 10.1109/9.905699
– ident: cit0009
  doi: 10.1016/j.automatica.2004.11.036
– ident: cit0004
  doi: 10.1016/j.robot.2011.06.005
– ident: cit0002
  doi: 10.1016/j.isatra.2016.02.023
– ident: cit0007
  doi: 10.1016/j.neucom.2015.02.101
– ident: cit0021
  doi: 10.1016/j.rcim.2010.07.007
– ident: cit0015
  doi: 10.1109/TMECH.2009.2014057
– ident: cit0010
  doi: 10.1016/j.sysconle.2012.11.020
– ident: cit0022
  doi: 10.1016/j.ifacol.2015.11.272
– ident: cit0003
  doi: 10.1109/9.668834
– ident: cit0012
  doi: 10.1016/j.neucom.2015.11.099
– ident: cit0006
  doi: 10.1109/TCST.2004.824953
– ident: cit0023
  doi: 10.1016/j.robot.2016.01.002
– ident: cit0027
  doi: 10.1016/j.ins.2014.06.037
– ident: cit0018
  doi: 10.1109/TCST.2008.922584
– ident: cit0013
  doi: 10.1016/S0167-6911(00)00104-3
SSID ssj0013581
Score 2.5910215
Snippet This paper discusses the problem of adaptive sliding mode trajectory tracking control for wheeled mobile robots in the presence of external disturbances and...
SourceID proquest
crossref
informaworld
SourceType Aggregation Database
Enrichment Source
Index Database
Publisher
StartPage 2255
SubjectTerms Adaptive control
Angular velocity
Control stability
Control theory
Robot control
Sliding mode control
Subsystems
terminal sliding mode
Tracking control
Trajectory control
wheeled mobile robots
Title Adaptive sliding mode trajectory tracking control for wheeled mobile robots
URI https://www.tandfonline.com/doi/abs/10.1080/00207179.2018.1436194
https://www.proquest.com/docview/2268860777
Volume 92
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV1Jb9QwFLaG9gIHxCoKBfnADbmKlyTOccSiEUicWlH1EvzsWGXRpGpTofLreY6dGQ-MKOUSWdHYk-R9fpvfQsjLUnYOceCYMNAwZXjDTAmKCY_CyEhf4CBEW3ysFkfq_XF5PJt9zqKWLgc4sD-35pX8D1XxHtI1ZMnegLKrRfEGjpG-eEUK4_WfaDx35mwM_UFlcUxOCX1tQteHr6Mv_ioM7beYVhsj0kNQ4Y_TDmWNwx8DsoRX5z30sZzTpKRuegmz2hJplczZ_CVmdizZVZ9EYPDWpDDfk1M0vE2fOxaQSOFYXObMEi1LtPYiR-sif5RVxUotipyBNiIHSpGzQxFr8CbRiqqe2Mq2pzhHEazLkD7ENbJwGTwsazk1nc3_Jr5WQYV8Ve00LtOGZdq0zC2yK9CQQE64O1-8Ofm0PmkqdeyqmF52yvIK9de3Pc-G_rJR3fYPaT6qKIf3yN1kW9B5BMp9MuuWD8idrOLkQ_JhggxNkKEBMnQNGTpBhiZiU_xrmiBDI2RohMwjcvTu7eHrBUv9NJiVUg_MFUZbzquuKgC6oOg6LzhwWStfWm1rYYXh1uHm5bVWxjfe-gpMAwVI50E-JjvLftk9IVR5703p0biwpQKvQEPtoDZViZ8MjNkjavpKrU3F5kPPk-_tX6m0Rw5W085itZXrJjQ5CdphdHP52JOmldfM3Z_o1aatdNEiRLWuirqun970WZ6R2-tttE92hvPL7jlqrAO8SKD7BZ1tjdc
linkProvider Library Specific Holdings
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1LT9wwELbocmg5FNqCgNLiQ69ZxbEdJ0dUFW0L7AkkbpbHjlUB2l0tQQh-PTN5LAsIceBmKRkrGY_nYc98w9gvLauAchCSzEGZKCfKxGlQSRbRGDkZUxxQtsU4H52pf-f6fKkWhtIqKYaOLVBEo6tpc9NhdJ8SRyXcFIZQnYkocK9LCsU_sFVd5oZkXabjx5sEXbRd8zBMIpq-iue1aZ7YpyfopS-0dWOCDteZ7z--zTy5HN7UMPT3z3Ad3_d3G-xz56Hyg1akvrCVavKVrS3hFn5jRwfBzUhPcvRSyfhxaqjD67m7aC4B7mjo6RCed6nwHH-Q3_6v0MgFfBlQF_H5FKb19SY7O_xz-nuUdF0ZEo_hbJ2E1BVeiLzKU4CK3KUQMwFCGhW1L7zJfOaEDygCwhTKxTL6mIMrIQUZIsgtNphMJ9U24yrG6HREF9VrBVFBASaAcblGDoBzO0z1a2F9B1lOnTOurFggm7a8ssQr2_Fqhw0XZLMWs-MtgnJ5oW3dHJbEtrOJlW_Q7vVSYbvtf23Rpy2KPDXG7L5j6n32cXR6cmyP_46PvrNP-Khs0gjlHhvU85vqB7pDNfxs5P0BLxj8KA
linkToPdf http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1ZSwMxEA4eIPrgLdYzD75u2exmr8eilnpQfFDwLWSSDaLSlnaL6K93Zg9PpA--BXYn7E4mcyTfzDB2EoW5RTmwXqAh86QWmacjkF7g0Bjp0Pk4ILRFP-7dycv7qEETTmpYJcXQrioUUepq2twj6xpEHGVwUxRCaSYixa0eUiQ-zxZjSrSkLA6__3mREKVV0zyMkoimSeL5a5pv5ulb8dJfyrq0QN01Bs23V8CTp_a0gLZ5-1HW8V8_t85Wa_-UdyqB2mBz-WCTrXypWrjFrjpWj0hLcvRRyfRxaqfDi7F-LK8AXmlo6Aie10B4jv_HXx5yNHEWXwbURHw8hGEx2WZ33fPb055X92TwDAazhWd9nRoh4jz2AXJylqwLBIgwkS4yqUkCE2hhLAqASFKpXeaMi0Fn4ENoHYQ7bGEwHOS7jEvnnI4cOqgmkuAkpJBYSHQcIQdA6xaTzVIoUxcsp74Zz0p81DWteKWIV6rmVYu1P8hGVcWOWQTZ13VWRXlU4qq-JiqcQXvQCIWqN_9EoUebprGfJMneP6Y-Zks3Z111fdG_2mfL-CQrMYThAVsoxtP8EH2hAo5KaX8HD0T6zA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Adaptive+sliding+mode+trajectory+tracking+control+for+wheeled+mobile+robots&rft.jtitle=International+journal+of+control&rft.au=Zhai%2C+Jun-yong&rft.au=Song%2C+Zhi-bao&rft.date=2019-10-03&rft.issn=0020-7179&rft.eissn=1366-5820&rft.volume=92&rft.issue=10&rft.spage=2255&rft.epage=2262&rft_id=info:doi/10.1080%2F00207179.2018.1436194&rft.externalDBID=n%2Fa&rft.externalDocID=10_1080_00207179_2018_1436194
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0020-7179&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0020-7179&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0020-7179&client=summon