Sliding mode control of a differential-drive mobile robot following a path

Dòria‐Cerezo, Arnau; Biel, Domingo; Olm, Josep M.; Repecho, Víctor

doi:10.23919/ecc.2019.8796166

Cited by 6 publications

(2 citation statements)

References 15 publications

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“…It is shown that the formation tracking error converge to a neighborhood of the origin in a fixed time. In [10], a first-order sliding-mode controller is presented for a differential-drive robot following a path. The proposed approach is able to ensure local asymptotic stability of the path tracking in terms of the Frénet-Serret frame.…”

Section: Introductionmentioning

confidence: 99%

Perturbed Unicycle Mobile Robots: A Second-Order Sliding-Mode Trajectory Tracking Control

Ríos

Mera

Polyakov

2024

IEEE Trans. Ind. Electron.

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This paper contributes to the design of a secondorder sliding-mode controller for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy takes into account the design of two particular sliding variables, which ensure the convergence of the tracking error to the origin in a finite time despite the effect of some external perturbations. The straightforward structure of the controller is simple to tune and implement. The global, uniform and finite-time stability of the closed-loop tracking error dynamics is demonstrated by means of Lyapunov functions. Furthermore, the performance of the proposed approach is validated through some experiments using a QBot2 unicycle mobile robot.

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Section: Introductionmentioning

confidence: 99%

Perturbed Unicycle Mobile Robots: A Second-Order Sliding-Mode Trajectory Tracking Control

Ríos

Mera

Polyakov

2024

IEEE Trans. Ind. Electron.

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“…After designing the reference trajectory, an appropriate control strategy is required to track the trajectory. Fuzzy logics [2], PID tuning methods [3], sliding mode control [4], and a combination of them [5] are among common control strategies.…”

Section: Introductionmentioning

confidence: 99%

Smooth velocity tracking and kinematic-based fuzzy control of carrying mobile robots

Almodarresi¹

2020

SN Appl. Sci.

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Mobile robots are affected by forces imposed on them because of moving. These forces significantly affect the carrying efficiency of robots. In this study, the velocity profile is designed such that no extremum emerges on the rising and falling phases of the graph while a constant velocity is preserved between these parts. Decreasing the motion forces on the robot is the main goal of this study. In the second part of this study, a kinematic-based approach is presented to design fuzzy control rules. The significance of this approach is that unlike the methods proposed in the literature, in this method, the rate change of posture error is not required to enter into the fuzzy logic to provide the velocity tracking. This considerably reduces the computational effort with a decrease in the number of rules. In this method, proper indicators are defined as weights of the input and output linguistic functions of the fuzzy logic. Then, the inverse kinematics is employed to compute the proper weights of inputs based on each possible combination of outputs weights.

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