Sliding Mode Control for Trajectory Tracking Problem - Performance Evaluation

Șolea, Răzvan; Cernega, Daniela

doi:10.1007/978-3-642-04277-5_87

Cited by 19 publications

(13 citation statements)

References 7 publications

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“…In a different development, sliding mode control (SMC) was considered by some researchers [62][63][64]. SMC is a nonlinear control method that brings about changes in the dynamics of a nonlinear system by applying discontinuous control signal that force the system to slide towards a cross section of the normal behavior of the system.…”

Section: Sliding Mode Control Path Planning Methodmentioning

confidence: 99%

An Overview of Nature-Inspired, Conventional, and Hybrid Methods of Autonomous Vehicle Path Planning

Ayawli

Chellali

Appiah

et al. 2018

Journal of Advanced Transportation

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Safe and smooth mobile robot navigation through cluttered environment from the initial position to goal with optimal path is required to achieve intelligent autonomous ground vehicles. There are countless research contributions from researchers aiming at finding solution to autonomous mobile robot path planning problems. This paper presents an overview of nature-inspired, conventional, and hybrid path planning strategies employed by researchers over the years for mobile robot path planning problem. The main strengths and challenges of path planning methods employed by researchers were identified and discussed. Future directions for path planning research is given. The results of this paper can significantly enhance how effective path planning methods could be employed and implemented to achieve real-time intelligent autonomous ground vehicles.

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Section: Sliding Mode Control Path Planning Methodmentioning

confidence: 99%

An Overview of Nature-Inspired, Conventional, and Hybrid Methods of Autonomous Vehicle Path Planning

Ayawli

Chellali

Appiah

et al. 2018

Journal of Advanced Transportation

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“…( 22). The , λ, K , and ζ parameters are usually determined through experiments [53] and have a significant impact on the performance of the SMC. The ζ and K parameters are the SMC gains where the ζ i parameters force the state x to approach the switching manifolds faster when s is large.…”

Section: Achievable Skier Trajectories Path Controlmentioning

confidence: 99%

Handiski simulator performance under PSO-based washout and control parameters optimization

et al. 2022

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The transfer of advanced technology to the person with a disability who wishes to practice a sporting activity is gaining momentum in the science/engineering world. This paper seeks to approve more comfort and sensations for people with paraplegia on a motion simulation platform during a ski operation. The Motion Cueing Algorithm (MCA) has proven itself for sensation reproduction, which we propose to improve by integrating the physical limits of our 8-DoF mechatronics platform. An extended classical MCA is proposed to respond to the significant lack of restored sensation in the intermediate frequency range. A Particle Swarm Optimization (PSO) is constructed to perform optimal washout filter parameters and control law parameters. Consequently, the reproduced skier trajectory stability is obtained. The results show that the proposed algorithm will overcome the physical limitation problem in the Handiski simulator, improve the realism of movement sensation, and reduce the false cues to enhance dynamic fidelity.

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“…Although the final position is reachable, it is virtually impossible to harvest exact orientations via continuous feedback controllers at the equilibrium point of nonholonomic systems, a direct result of Brocketts Theorem (Brockett, 1983). Notwithstanding the limitation, we adopt the sliding-mode technique from (Solea and Cernega, 2009) to maneuver the WMM into a final position such that the prescribed final orientation could also be accomplished. A trajectory planner for wheeled mobile manipulators must generate smooth velocity profiles (linear and angular) with low associated accelerations.…”

Section: Sliding-mode Controller Designmentioning

confidence: 99%

Trajectory Tracking Control of Mobile Manipulators Based on Kinematics

Șolea

Cernega

2011

Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics

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This paper focuses on the motion planning problem of mobile manipulator systems, i.e. manipulators attached on mobile platforms. The paper presents a methodology for generating trajectories for both the mobile platform and the manipulator that will take a system from an initial configuration to a pre-specified final one, without violating the nonholonomic constraint. The contributions of this paper come from the development and evaluation of sliding-mode control scheme for the composite wheeled robot that facilitate maintenance of all kinematic constraints within such systems. Given an arbitrary trajectory,the mobile-manipulator controller must generate a smooth desired trajectory for mobile platform.

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Sliding Mode Control for Trajectory Tracking Problem - Performance Evaluation

Cited by 19 publications

References 7 publications

An Overview of Nature-Inspired, Conventional, and Hybrid Methods of Autonomous Vehicle Path Planning

An Overview of Nature-Inspired, Conventional, and Hybrid Methods of Autonomous Vehicle Path Planning

Handiski simulator performance under PSO-based washout and control parameters optimization

Trajectory Tracking Control of Mobile Manipulators Based on Kinematics

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