Robust Sliding Mode Controller (RSMC) for an Omniwheeled Mobile Robot with Uncertainties and External Perturbations

Saad, Mohammad; Tople, Uddesh; Khandare, Amrapali; Islam, Zeeshan

doi:10.1007/978-981-15-3639-7_55

Cited by 4 publications

(2 citation statements)

References 2 publications

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“…SMC is fundamentally resistant to changes in the parameters, external disturbances and uncertainty. The aim for controller design is the convergence and tracking of the angular positions defined by joint angle, q 1 (hip), q 2 (knee) and q 3 (ankle) with respect to the desired signal in the presence of bounded but unknown external disturbances [20]. A closed loop control system block diagram for 3 link exoskeleton is shown in fig.…”

Section: Sliding Mode Controller Of the Lower Limb Exoskeletonmentioning

confidence: 99%

Modeling and Finite-Time Sliding Model Control of a Lower Limb Exoskeleton for Use in Rehabilitation

Tople

Khandare

Itankar

et al. 2021

Preprint

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Exoskeleton systems in recent years has become a prime choice technology due to the various possibilities it can deliver. These possibilities comprise the assisting and rehabilitative techniques designed for disabled and elderly people, so that they can regain control of their limbs and in addition to this also to augment and boost the abilities of able-bodied persons during heavy work-load conditions. Many works are reported on the modeling and control of a exoskeleton robot, but very few paper discuss the complete derivation of the model of the system. Here, first the dynamic model of a physical system used as lower limb exoskeleton robot is obtained. Secondly the analysis of the system done that is derived through dynamic modelling of a 3-link robotic manipulator using Euler-Lagrange approach and validation of the corresponding model in simulation. Further, design of a finite-time SMC for desired trajectory tracking of the system is implemented. The dynamic model of the 3-link system and its control using finite-time sliding mode control are validated in MATLAB simulation environment.

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Section: Sliding Mode Controller Of the Lower Limb Exoskeletonmentioning

confidence: 99%

Modeling and Finite-Time Sliding Model Control of a Lower Limb Exoskeleton for Use in Rehabilitation

Tople

Khandare

Itankar

et al. 2021

Preprint

Self Cite

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“…The control approach combines robust control principles with adaptive control techniques to manage fluctuating circumstances and disturbances. Saad et al [11] present a robust sliding mode controller (RSMC), which was created especially for omniwheeled mobile robots. The main contribution is the creation of the RSMC, which improves the robot's motion control robustness by maintaining precise trajectory tracking when subjected to external disturbances.…”

Section: Introductionmentioning

confidence: 99%

A triangle decomposition method for the mobility control of mecanum wheel-based robots

Olivier Akansie,

C. Biradar,

Karthik

et al. 2024

IJ-AI

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Mobile robots are used in a variety of applications including research, education, healthcare, customer service, security and so on. Based upon the application, the robots employ different locomotion systems for their mobility. When it comes to rolling locomotion, the wheels used to provide mobility to robots can be categorized as: tracks, omnidirectional wheels, and unidirectional wheels with a steering system. The ability of omnidirectional wheels to drive machines in small spaces makes them interesting to use. Among the types of omnidirectional wheels, mecanum wheels are widely used due to their inherent benefits. With the right control strategy, robots equipped with mecanum wheels can move freely, in all possible directions. In this study, a triangle decomposition approach is employed for controlling omnidirectional mecanum wheel-based robots. The method consists of breaking down any path into a set of linear motions that can be horizontal, vertical, or oblique. Furthermore, the oblique paths are divided into smaller segments that can be resolved into a horizontal and vertical component in a right-angle triangle. The suggested control method is tested and proved on a simple scenario using Webots simulation software.

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Error compensation for snake arm maintainer under variable loads

Qin

et al. 2023

J Mech Sci Technol

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Robust Sliding Mode Controller (RSMC) for an Omniwheeled Mobile Robot with Uncertainties and External Perturbations

Cited by 4 publications

References 2 publications

Modeling and Finite-Time Sliding Model Control of a Lower Limb Exoskeleton for Use in Rehabilitation

Modeling and Finite-Time Sliding Model Control of a Lower Limb Exoskeleton for Use in Rehabilitation

A triangle decomposition method for the mobility control of mecanum wheel-based robots

Error compensation for snake arm maintainer under variable loads

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