Disturbance observer–based super-twisting sliding mode control for formation tracking of multi-agent mobile robots

Zhang, Guigang; Wang, Yun; Wang, Jian; Chen, Jia‐Rong; Qian, Dianwei

doi:10.1177/0020294020909126

Cited by 14 publications

(11 citation statements)

References 35 publications

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“…As a result, for any given strictly positive parameters v 1 and v 2 , where v 2 . v 1 , if K 1 and n 1 are designed to satisfy equation ( 26), the transfer function relating D t (s) to D1 (s) satisfies equation (27). Thus, the proof is complete.…”

Section: T (Jv)mentioning

confidence: 78%

“…22,23 The DOBC method has been applied to various engineering processes, such as fluidized bed combustor, mobile robots, chain driving system, and networked dynamic system. [24][25][26][27] To remove the impact of mismatched uncertainty from the output with the DOBC method, the systematic disturbance compensation gain design method and the sliding-mode control method were introduced. 28,29 Based on the DOBC method, the repetitive controller and reduced-order observer were presented to deal with the slow dynamics system.…”

Section: Introductionmentioning

confidence: 99%

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On disturbance rejection control for inertial stabilization of long-distance laser positioning with movable platform

Deng

Xue

Zhou

et al. 2020

Measurement and Control

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This paper focuses on the disturbance rejection control problem for inertial stabilization of long-distance laser positioning with the movable platform. Due to various disturbances of the movable platform, the positioning system has significant disturbances that affect the positioning accuracy. Moreover, the nonminimum-phase property of the inertial stabilization system leads to great challenges for designing traditional disturbance-observer-based as well as rejection control methods. In this paper, a dual-compensator disturbance-observer-based control algorithm is proposed to ensure a much stronger rejection of disturbances than those of conventional methods. In particular, it is proven that the two compensators in the proposed method effectively estimate disturbances in different frequency regions. Furthermore, the analytical tuning laws for the proposed dual-compensator disturbance-observer-based control method are presented. The experimental setup including the laser positioning platform demonstrated the validity of the proposed method, which effectively rejected various disturbances.

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Section: T (Jv)mentioning

confidence: 78%

Section: Introductionmentioning

confidence: 99%

On disturbance rejection control for inertial stabilization of long-distance laser positioning with movable platform

Deng

Xue

Zhou

et al. 2020

Measurement and Control

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show abstract

“…Among various control schemes, sliding mode control (SMC) is a powerful nonlinear control technology, which has a simple control structure, easy to implement, with fast response, insensitivity and strong robustness to system external disturbance and model uncertainties [9][10][11][12]; therefore, it has attracted a lot of attention and has been applied in the ETS [7,8,[13][14][15][16]. However, the traditional SMC suppresses external disturbance and model uncertainties mainly by adding a discontinuous switching term.…”

Section: Introductionmentioning

confidence: 99%

Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

et al. 2022

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The electro-optical tracking system (ETS) on moving platforms is affected by the vibration of the moving carrier, the wind resistance torque in motion, the uncertainty of mechanisms and the nonlinear friction between frames and other disturbances, which may lead to the instability of the electro-optical tracking platform. Sliding mode control (SMC) has strong robustness to system disturbances and unknown dynamic external signals, which can enhance the disturbance suppression ability of ETSs. However, the strong robustness of SMC requires greater switching gain, which causes serious chattering. At the same time, the tracking accuracy of SMC has room for further improvement. Therefore, in order to solve the chattering problem of SMC and improve the tracking accuracy of SMC, an SMC controller based on internal model control (IMC) is proposed. Compared with traditional SMC, the proposed method can be used to suppress the strongest disturbance with the smallest switching gain, effectively solving the chattering problem of the SMC, while improving the tracking accuracy of the system. In addition, to reduce the adverse influence of sensor noise on the control effect, lifting wavelet threshold de-noising is introduced into the control structure to further improve the tracking accuracy of the system. The simulation and experimental results verify the superiority of the proposed control method.

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“…In the research of formation control of complex nonlinear systems, sliding mode control (SMC) is an effective robust controller for suppressing disturbances because of its excellent characteristics of being insensitive to system parameter changes and external disturbance when the system enters the sliding mode. In [14], a nonsingular fast terminal SMC was proposed, which can drive the tracking error to zero in finite time. Reference [15] investigated the leader-follower formation control for multiwheel mobile robots by combining a motion controller with a dynamic controller based on sliding mode.…”

Section: Introductionmentioning

confidence: 99%

A Q-Learning-Based Parameters Adaptive Algorithm for Formation Tracking Control of Multi-Mobile Robot Systems

et al. 2022

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This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots. In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy. Then an adaptive method of sliding mode control parameters optimized by Q-learning scheme is employed, which can avoid the complex parameter tuning process. Furthermore, the stability of the closed-loop control system is rigorously proved by means of matrix properties of graph theory and Lyapunov theory, and the formation tracking errors can be guaranteed to be uniformly ultimately bounded. Finally, simulations are presented to show the proposed algorithm has the advantages of faster convergence rate, higher tracking accuracy, and better steady-state performance.

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Disturbance observer–based super-twisting sliding mode control for formation tracking of multi-agent mobile robots

Cited by 14 publications

References 35 publications

On disturbance rejection control for inertial stabilization of long-distance laser positioning with movable platform

On disturbance rejection control for inertial stabilization of long-distance laser positioning with movable platform

Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

A Q-Learning-Based Parameters Adaptive Algorithm for Formation Tracking Control of Multi-Mobile Robot Systems

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