Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates

Lee, Jun-Ku; Choi, Yoon Ho; Park, Jin Bae

doi:10.1007/s12555-014-0024-5

Cited by 27 publications

(12 citation statements)

References 13 publications

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“…Among them, γ > 0. When sðy, tÞ = 0 is set, e = 0 is the only solution to Equation (12). Then, the problem of tracking the desired trajectory y d is equivalent to the problem of function sðy, tÞ = 0.…”

Section: Sliding Mode Controlmentioning

confidence: 99%

“…Based on the tracking error, the controller is moved to different kinematic models. In a Cartesian Coordinate, Lee et al [12] developed the SMC approach angle. The risk of a switching effect due to high switching gains is a significant drawback of the switching control strategy, which can in turn lead to high frequency unmodelled dynamics affecting the robotic system.…”

Section: Introductionmentioning

confidence: 99%

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Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

Cai¹,

Singh

2021

Wireless Communications and Mobile Computing

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Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

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Section: Sliding Mode Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

Cai¹,

Singh

2021

Wireless Communications and Mobile Computing

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“…The modeling and analysis were investigated to design the controller for the WMR in [6]. Meanwhile, a variety of nonlinear control techniques have been used by many researchers, such as adaptive control [7][8][9][10][11], robust adaptive control [12][13][14], adaptive fuzzy logic control [15][16][17][18], adaptive neural network control [19,20], and sliding mode control [21][22][23], and several kinds of the aforementioned methodologies are integrated to solve this problem [24,25].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Integral Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robot

Peng

Shi

2017

Mathematical Problems in Engineering

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In this paper, the trajectory tracking problem is investigated for a nonholonomic wheeled mobile robot with parameter uncertainties and external disturbances. In this strategy, combining the kinematic model with the dynamic model, the actuator voltage is employed as the control input, and the uncertainties are approximated by a fuzzy logic system. An auxiliary velocity controller is integrated with an adaptive fuzzy integral terminal sliding mode controller, and a robust controller is employed to compensate for the lumped errors. It is proved that all the signals in the closed system are bounded and the auxiliary velocity tracking errors can converge to a small neighborhood of the origin in finite time. As a result, the tracking position errors converge asymptotically to zeros with faster response than other existing controllers. Simulation results demonstrate the effectiveness of the proposed strategy.

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“…Hung et al 15 used backstepping strategy together with SMC for path-following purpose with constant velocity. Lee et al 16 devised an SMC based on approach angle in Cartesian coordinate. One major disadvantage of switching control (both ROC and SMC) approach is the possibility of chattering effect due to high switching gains which, in turn, may activate high-frequency unmodeled dynamics causing harmful effect on robotic system.…”

Section: Introductionmentioning

confidence: 99%

Robust control of nonholonomic wheeled mobile robot with past information: Theory and experiment

Roy

Nandy

Kar

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, a robust hybrid control method is presented for efficient path tracking control of a nonholonomic wheeled mobile robotic system under parametric and nonparametric variations. The present control law is a paradigm shift to control a wheeled mobile robot over a predefined trajectory by fusing the best features of the switching control logic as well as time-delayed control logic. The proposed hybrid control strategy aims at reducing the effort required for modeling the complex wheeled mobile robotic systems by approximating the unknown dynamics using input and feedback information of past time instances. Furthermore, the proposed methodology significantly reduces the approximation error arising from finite time-delay through the switching logic without any prior knowledge of the uncertainty bound. A new stability analysis for the time-delayed control is proposed which establishes an analytical relation between the controller performance and the approximation error. Performance of the proposed hybrid controller is tested with a real-life wheeled mobile robot and improved tracking performance is observed compared to conventional robust control strategies even with the incorporation of dynamic parametric uncertainties.

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Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates

Cited by 27 publications

References 13 publications

Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

Adaptive Fuzzy Integral Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robot

Robust control of nonholonomic wheeled mobile robot with past information: Theory and experiment

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