Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection

Chupradit²,

Danshina³

et al. 2022

Preprint

This paper present a design for a control system that will ensure the stability and proper operation of a mobile four-wheeled robot. There are two types of control approaches applied to ensure this robot is stable, that its performance is appropriate, and that modeling errors and uncertainties are minimized. In the presence of external disturbances and parametric uncertainty, this algorithm uses the signals provided by the sensor from the trajectory to follow the predetermined trajectory. It was assumed in previous articles that the upper bound of uncertainty was known. In this paper, we assume that in most cases, we cannot know the extent of the upper band of uncertainties and interferences in robotic systems. This enables us to estimate upper band uncertainties online based on adaptive laws that were included in the law so that the law could be generalized into a robust adaptive sliding mode control. These results can be expressed as distinct theorems under this typology. MATLAB simulations demonstrate that the controller delivers optimal performance under external disturbances and parametric uncertainty with fewer fluctuations.

Section: Introductionmentioning

confidence: 99%

WITHDRAWN: Trajectory tracking of a mobile robot using adaptive sliding mode control

Chupradit²,

Danshina³

et al. 2022

Preprint

“…In [5], a neural approximation based model predictive control approach was proposed for tracking control of a nonholonomic wheel-legged robot in complex environments. In [6], an adaptive terminal sliding mode control scheme was presented for robust trajectory tracking control of an omnidirectional mobile robot. An adaptive online estimation law was designed in to overcome the total uncertainty.…”

Section: Introductionmentioning

confidence: 99%

WITHDRAWN: Trajectory Tracking of A Mobile Robot Using Adaptive Sliding Mode Control

Hosseinabadi

et al. 2021

Preprint

In this paper, a control system for a mobile four-wheeled robot is designed, whose task is to create stability and achieve proper performance in the execution of commands. Due to the nonlinear and time-varying dynamics, structural and parametric uncertainties of this robot, various control approaches are used in order to achieve stability, proper performance and minimize the effect of uncertainties and modeling errors, etc. The purpose of the control here is to follow a predetermined trajectory by adjusting linear and angular velocities in the presence of external disturbances and parametric uncertainty.In previous articles, the upper band of uncertainties has been assumed known. In this paper, and given that in practice, in many cases it is not possible to know the extent of uncertainties and disturbances in robotic systems, we have assumed that this upper band is unknown. Therefore, the sliding mode control law designed in the paper has been generalized and proved its stability so that by adding an adaptive part to the controller and converting it into a robust-adaptive sliding mode control, the upper band uncertainties are estimated online using these adaptive laws. The results of this typology are expressed in a separate theorem and proved to be stable. The results of simulation with MATLAB software show that the proposed controller ensures optimal performance under external disturbances and parametric uncertainty with less fluctuations.

“…Based on neural approximation-based model predictive control, [5] proposes a nonholonomic wheel-legged robot tracking in complex environments. A robust trajectory tracking control method for omnidirectional mobile robots was presented in [6]. To overcome the total uncertainty, an adaptive online estimation law was designed.…”

Section: Introductionmentioning

confidence: 99%

WITHDRAWN: Trajectory tracking of a mobile robot using adaptive sliding mode control

Jahangiri

2021

Preprint

The purpose of this paper is to design a control system for a mobile four-wheeled robot, whose task is to achieve stability and proper operation in the execution of commands. As a result of the nonlinear dynamics, structural and parametric uncertainty of this robot, various control approaches are used in order to achieve stability, proper performance, minimize modeling errors and uncertainties, etc. By adjusting linear and angular velocities in the presence of external disturbances and parametric uncertainty, this algorithm is able to follow a predetermined trajectory based on the information contained in the signals received by the sensor from the trajectory.. In previous articles, the upper bound of uncertainty was assumed to be known. This paper makes the assumption that the upper band of uncertainty and disturbances in robotic systems is unknown, since, in many cases, we cannot know the extent of these uncertainties in practice. In our recent paper, we generalized the sliding mode control law and proved its effectiveness, so that by including an adaptive part to the control law, we transformed it into a robust-adaptive sliding mode control, and we could estimate the upper band uncertainties online based on these adaptive laws. This typology can be expressed as a distinct theorem with stable results. Simulations with MATLAB software demonstrate that the controller ensures optimal performance under external disturbances and parametric uncertainty with less fluctuations.