Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR

Abstract

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Decentralized sliding mode control for a class of nonlinear interconnected systems by static state feedback

“…In order to further test the robustness of the proposed decentralized sliding mode control, unmatched uncertainties 14 and interconnections H 114 (t, x 1 ) + H 124 (t, x 2 ) of the system (40)-(41) are introduced, while the other terms remain…”

“…As one of the classical robust control methods, sliding mode control is widely considered to be an effective method to deal with uncertainties due to its excellent performance characteristics and relatively simple design process. Decentralized sliding mode control has been extensively studied in large‐scale systems.…”

“…8,9 Alternative robust control methods, such as H ∞ control, 10,11 have strong robustness in dealing with large-scale operating regions even in the presence of disturbance scenarios, but the design process is complex and the synthesis can be difficult and time-consuming. 12,13 As one of the classical robust control methods, sliding mode control 14 is widely considered to be an effective method to deal with uncertainties due to its excellent performance characteristics and relatively simple design process. Decentralized sliding mode control has been extensively studied in large-scale systems.…”

Cascade Sliding Control for Trajectory Tracking of a Nonholonomic Mobile Robot with Adaptive Neural Compensator

“…In the work presented by [5], the tracking control of a two-wheeled mobile robot is considered to underpin the developed theoretical results based on SMC. Model-based tracking control of a wheeled mobile robot (WMR) is first transferred to a stabilization problem for the corresponding tracking error system, and then the developed theoretical results are applied to show that the tracking error system is globally asymptotically stable even in the presence of matched and mismatched uncertainties.…”

“…Model-based tracking control of a wheeled mobile robot (WMR) is first transferred to a stabilization problem for the corresponding tracking error system, and then the developed theoretical results are applied to show that the tracking error system is globally asymptotically stable even in the presence of matched and mismatched uncertainties. These works [3][4][5] do not present adaptive capacity combined with SMC in trajectory tracking control.…”