Robust Tracking Control Using Fuzzy Disturbance Observer for Wheeled Mobile Robots with Skidding and Slipping

Abstract

This paper proposes a robust tracking controller based on the Fuzzy Disturbance Observer (FDO) for a Wheeled Mobile Robot (WMR) with unknown skidding and slipping. The proposed method provides disturbance-free techniques for stability analysis. In our previous work [1], we proposed an extended stateobserver approach to robust tracking control for wheeled mobile robots with skidding and slipping. Even though satisfying performances were shown and the proposed method was verified in [1], the derivatives of disturbance should go to zero as time passes in order to guarantee performance. This is a very critical assumption. The method proposed in this paper overcomes this problem using universal approximation with a fuzzy model. Thus, the condition that disturbance should disappear with time is not required anymore. Furthermore, the proposed method can be used more widely than that shown in the previous work. This is guaranteed by a Lyapunov-theorybased stability analysis, and performance is verified by simulation results.

Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer

“…For the given WMR system in Equation 10, when the control law in Equation (26) and the adaptive law Equation (27) are adopted, the sliding mode surface asymptotically converges to zero in any initial state, i.e., system state variable ζ = v w can asymptotically and stably track the given signal…”

“…The WMR was regarded as nonlinear discrete-time dynamic system in the motion control when the skidding and slipping phenomena existed [23]. For another robust tracking controller in presence of skidding and slipping, a desired virtual velocity controller based on disturbance observer (DOB) was developed in [24], a generalized extended state observer [25] and fuzzy disturbance observer [26] were developed. In the controller, the skidding and slipping was regarded as disturbance and thus the dynamics equation was modified.…”

Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot

“…In [2], the authors have proposed a nonlinear disturbance observer to estimate the uncertain disturbance torques with exponential convergence. More recently, a robust tracking control scheme based on a fuzzy disturbance observer was proposed for wheeled mobile robots with slipping and skidding in [3]. e sliding mode control (SMC) has proved its robustness on the control of the self-balancing robots.…”

Neural Network-Based Adaptive Motion Control for a Mobile Robot with Unknown Longitudinal Slipping

“…Regarding skidding and slipping as disturbances, Kang et al [24] proposed a robust tracking approach using a generalized extended state observer at kinematic and dynamic level. Later in their work, Kang et al [25] proposes a robust tracking controller based on the fuzzy disturbance observer for a WMR with unknown skidding and slipping. Subject to Wheel Slip, Tian et al [26] developed a time-invariant discontinuous feedback law is to asymptotically stabilize the robot system.…”