Air–ground trajectory tracking for autonomous mobile robot based on model predictive hybrid tracking control and multiple harmonics time‐varying disturbance observer

Xiong, Shixun; Chen, Mengting; Wei, Ziqiang; Jiang, Linghai

doi:10.1049/cth2.12406

Cited by 4 publications

(4 citation statements)

References 32 publications

(60 reference statements)

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“…We can can applied the supertwisting algorithm for the system (11). Firstly, the following assumption can be given.…”

Section: B X1(t ) and X2(t ) Stabilization'smentioning

confidence: 99%

“…In order to stabilise the (11) and using the terminal sliding variable as (12), the supertwisting algorithm can be designed as…”

Section: B X1(t ) and X2(t ) Stabilization'smentioning

confidence: 99%

“…The switching strategy is employed in the following theorem to guarantee fixed-time stability of the closed-loop system for uncertain NS with CFD in the presence of disturbances based on the prior findings for first and second order subsystems. Theorem 2: For the system (11), utilizing the upcoming switching controller…”

Section: Stabilization Of System With Unknown Perturbationsmentioning

confidence: 99%

See 2 more Smart Citations

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

Boubaker,

Labbadi,

Alsubaei

2024

IEEE Access

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This paper addresses the topic of stabilizing a class of nonholonomic systems in chained form impacted by matched uncertainties and time-varying perturbations. To design efficient stabilizing control law, the whole problem is divided into two sub-problems. The first sub-problem considers a system with perturbation stabilized using a fixed-time controller. The second sub-problem consists of the design of a controller for a second system operating under perturbations and uncertainties. To control this second system, firstly a terminal sliding mode manifold is proposed to achieve a fixed-time stability. As opposed to the traditional supertwisting algorithm (STA), the present work proposes a generalized STA (GSTA). The proposed method's most striking feature is the substitution of a fractional power term for the standard STA's discontinuous term, which can significantly boost the former's performance. It is demonstrated that the GSTA will reduce to the traditional STA if the fractional power in the nonsmooth term equals −1/2. The ability of the sliding variables to finite-time converge to an arbitrary tiny region in the vicinity of the origin by adjusting the gains and the fractional power will be thoroughly proven under the GSTA by utilizing strict Lyapunov analysis. The effectiveness of the proposed control method is shown through extensive simulations.INDEX TERMS Perturbed unicycle mobile robots, Nonholonomic systems, Fixed-time/finite stabilization, Lyapunov methods, high order sliding mode, Perturbations.

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“…We can can applied the supertwisting algorithm for the system (11). Firstly, the following assumption can be given.…”

Section: B X1(t ) and X2(t ) Stabilization'smentioning

confidence: 99%

“…In order to stabilise the (11) and using the terminal sliding variable as (12), the supertwisting algorithm can be designed as…”

Section: B X1(t ) and X2(t ) Stabilization'smentioning

confidence: 99%

Section: Stabilization Of System With Unknown Perturbationsmentioning

confidence: 99%

See 1 more Smart Citation

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

Boubaker,

Labbadi,

Alsubaei

2024

IEEE Access

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“…Within the broad and prevailing applications of vehicle swarms, including air-ground unmanned vehicle cooperation [1], unmanned aerial vehicle coordinated collision avoidance [2], distributed tracking of competitive autonomous underwater vehicles [3] and multiple spacecraft flight formation [4], the desired orbit tracking and formation motion control problem, that is, multiple unmanned vehicles (MUVs) tracking a level of orbits and forming into certain formation, has received much attention. In the literature, many results of formation control have been given based on the traditional control theory [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Switching threshold event‐triggered critic algorithm for optimal orbit tracking and formation motion

Yu,

Chen,

Zhang

2023

IET Control Theory & Appl

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This paper deals with the orbit tracking and formation motion problems with optimal energies and reduced computational cost. First, the orbit tracking and formation motion are decomposed into movements in the normal and tangent directions of level orbits, respectively, and simultaneously, the optimal value functions in both directions are defined. Then, to reduce the computational cost, a switching threshold event‐triggered (STET) mechanism is designed. Based on the STET mechanism, the optimal value functions are constructed to evaluate the optimal energies of orbit tracking and formation motion. Critic neural networks are then designed to approximate the optimal value functions, which yield the optimal policies along the normal and tangent directions of desired orbits, that is, a so‐called switching threshold event‐triggered critic algorithm (STET‐C). Theoretical analysis of system convergence is given in detail. Finally, two comparison simulations are given. The former intends to verify the optimal energy of STET‐C compared to the feedback controllers. The latter shows that STET‐C significantly reduces the computational cost in contrast with the non‐triggered actor‐critic algorithm, non‐triggered critic algorithm, and the relative threshold event‐triggered critic algorithm.

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Trajectory tracking of a wheeled mobile robot based on the predefined‐time sliding mode control scheme

Cong,

Wang,

et al. 2024

Asian Journal of Control

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In this paper, a double‐loop control method is proposed to improve the trajectory tracking performance of a wheeled mobile robot (WMR) with slippage properties and external disturbances. Considering the strong robustness and the ability to enable the system to converge in a short time, the predefined‐time sliding mode control (PTSMC) strategy is applied to the design of a double‐loop controller. Furthermore, a nonlinear disturbance observer (NDO) is adopted to comply with the feedforward compensation of the external disturbances. In turn, the controller only needs to deal with the internal disturbance of the system under the premise of using the NDO, thereby reducing the burden of the sliding mode controller. Based on Lyapunov methods, the stability of the double‐loop controller and the NDO is analyzed. Finally, the feasibility of the double‐loop control strategy is proven by simulations of the WMR operating along circular, sin‐shaped, and eight‐shaped roads.

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Air–ground trajectory tracking for autonomous mobile robot based on model predictive hybrid tracking control and multiple harmonics time‐varying disturbance observer

Cited by 4 publications

References 32 publications

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

Switching threshold event‐triggered critic algorithm for optimal orbit tracking and formation motion

Trajectory tracking of a wheeled mobile robot based on the predefined‐time sliding mode control scheme

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