Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile Robot

Abstract

Mobile robots have played a vital role in the transportation industries, service robotics, and autonomous vehicles over the past decades. The development of robust tracking controllers has made mobile robots a powerful tool that can replace humans in industrial work. However, most of the traditional controller updates are time-based and triggered at every predetermined time interval, which requires high communication bandwidth. Therefore, an event-triggered control scheme is essential to release the redundant data transmission. This paper presents a novel parameter-adaptive event-trigger sliding mode to control a two-wheeled mobile robot. The adaptive control scheme ensures that the mobile robot system can be controlled accurately without the knowledge of physical parameters. Meanwhile, the event trigger sliding approach guarantees the system robustness and reduces resource usage. A simulation in MATLAB and an experiment are carried out to validate the efficiency of the proposed controller.

Design and implementation of resource‐aware robust event‐based integral sliding mode controller for a networked wheeled mobile robot

“…It must be appreciated that the proposed control scheme offers robust tracking performance in the presence of disturbances, distinguishing it from existing works on event-based control of WMR discussed in Al Issa et al ( 2019), Postoyan et al (2015), and Xie et al (2020), which cannot guarantee stability for perturbed dynamics. Moreover, compared to the existing works on ET-SMC in Nath et al ( , 2021, Singh et al (2020), and Tran et al (2022, the proposed controller is free from reaching phase and thus guarantees robustness from the initial time of the response.…”

“…A neural network-based event-triggered sliding mode control (ET-SMC) was designed in where a nonlinear sliding surface was used, while RBFNN was used to approximate the uncertainty reducing the discontinuous control. In Tran et al (2022), an adaptive design of ET-SMC has been proposed with a linear sliding surface.…”

“…To alleviate the effect of the disturbance, the recent works introduced SMC along with ETC in Nath et al (2022, 2021), Singh et al (2020, 2021), and Tran et al (2022). In Nath et al (2021), a first‐order SMC with a nonlinear sliding surface was introduced for tracking control of WMR.…”

Adaptive sliding mode control for uncertain wheel mobile robot

“…However, the disturbances and uncertainties are not analyzed in this work. In [17]- [19], the adaptive sliding mode controls are introduced for kinematic control of wheeled mobile robot. All control schemes ensure good performance with reducing  ISSN: 2088-8708 Int J Elec & Comp Eng, Vol.…”

“…The disturbances, the wheel slips, and the uncertainties are compensated by an adaptive law, so the system achieve the robust ability. The advantages of the proposed control scheme can be listed as the following: i) the introduced control scheme consists of only one control loop instead of two as in [16]- [24] then the complexity in mathematical proof as well as implementation is greatly reduced; ii) the proposed ASMC compensate for the unknown components acting on the whole system (the simulation is setup with the presence of the wheel slips, the external disturbances, and the parameter uncertainties) instead of considering only kinematic disturbances as in [17]- [19] or dynamic disturbances as in [20], [21]; and iii) the upper bound of the disturbance is not required as in almost conventional SMCs.…”