Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control

Matraji, Imad; Al‐Durra, Ahmed; Haryono, Andri; Al-Wahedi, Khaled; Abou‐Khousa, Mohamed A.

doi:10.1016/j.conengprac.2017.11.009

Cited by 82 publications

(50 citation statements)

References 30 publications

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“…To overcome the shortcomings of the above means, predictive control methods [7,8] and fuzzy control [9,10] methods and others DOI: 10.35840/2631-5106/4125 Citation: Xiao-Feng L, Ren-Fang Z, Guo-Ping C (2020) A New Non-Time Based Tracking Control for Mobile Robot. Int J Robot Eng 5:025 [11][12][13] have been carried out. In these methods, although different ways are proposed to deal with the tire skids, obstacles or motor shutdown, they still use the time as the variable to design the controller.…”

Section: Introductionmentioning

confidence: 99%

A New Non-Time Based Tracking Control for Mobile Robot

Liu¹,

Zhou²,

Cai³

2020

Int J Robot Eng

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This paper proposed a new trajectory tracking control method based on non-time motion reference for non-holonomic mobile robots. Different from the traditional time-based control theory, this method determines the reference points through the geometrical relationship between the current position and the desired path. Substituting them into the time based motion controller, a non-time based motion controller can be derived. Since the reference points are only related to the current state of the robot, the method proposed gets rid of the influence by time, thereby avoiding the disadvantages of loss of tracking ability when the mobile robot encounters undesired incidents such as motor shutdown or tire skids. Finally, the feasibility of this method is verified through numerical simulations of typical path tracking.

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Section: Introductionmentioning

confidence: 99%

A New Non-Time Based Tracking Control for Mobile Robot

Liu¹,

Zhou²,

Cai³

2020

Int J Robot Eng

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“…Furthermore, to improve the control performance, many modified novel SMC has been reported. For instance, in [10], a adaptive SMC scheme with adaptive super twisting algorithm was proposed for robotic manipulators including actuator dynamics. Alternatively, Qiao and Zhang [11] proposed a second-order fast nonsingular terminal sliding mode manifold for dynamic uncertainties and time-varying external disturbances.…”

Section: Introductionmentioning

confidence: 99%

“…For system(1) with mismatched uncertain functions f i , if the virtual control signals are designed as(10), (26), and actual control signal is provided as (35), the whole closed-loop system is finite-time stable and all signals are SGUUB. Furthermore, the tracking errors converge to zero in finite-time.…”

mentioning

confidence: 99%

Finite-time dynamic surface approach to nonlinear systems with mismatched uncertainties

Sun¹,

Xu²

2020

Turk J Elec Eng & Comp Sci

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This paper develops a finite-time dynamic surface control (DSC) scheme for nonlinear systems with mismatched uncertainties via a high-order sliding mode(HOSM) observer. By designing a second-order terminal sliding surface based on the estimated signals, an observer-based sliding mode control (SMC) is designed to counteract the mismatched uncertainties in each step of backstepping. The proposed DSC scheme exhibits the following two attractive features. One is the application of HOSM observer to deal with mismatched system uncertainty functions. This is very different from the traditional approximator-based adaptive methods in dealing with high-order uncertain nonlinear systems. The other is the finite-time convergence of the provided algorithm, which guarantees the transient performance of tracking signals. Especially, the finite convergence time is explicitly given in the controller design and stability analysis. Simulation results of numerical example illustrates that the proposed approach shows better control performance than traditional approximators-based adaptive methods.

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“…The associate editor coordinating the review of this manuscript and approving it for publication was Okyay Kaynak . many good results have been established with the driving wheel velocities being the reference commands [8]- [10]. One prominent advantage of this scheme is that it is not subjected to kinematic model uncertainties, and at the same time, can be used to represent different mobile robots with minor geometric parameter perturbations.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

et al. 2019

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Four-wheel redundantly-actuated mobile robot (FRMR) offers high controllability and maneuverability for automation applications. However, the robot dynamics and actuator failures are normally omitted in existing kinematic control schemes, which may lead to steering vibration and degraded robustness. To deal with these problems, a fault-tolerant dynamic control method is developed for precise trajectory tracking of the FRMR, which utilizes a two-level structure to cover the wheel-ground interactions and possible actuator failures. In the high level, with a novel fractional-order sliding mode control, this method offers an effective way to regulate the steering angle and eliminate the rotation chattering simultaneously. For the redundantly-actuated issue, a robust allocation solution is presented in the lower level to straightly determine optimal driving torques with full considerations of actuator failures and optimization efficiency. The convergence and stability of the achieved FRMR system are guaranteed theoretically. The experimental comparative results verify that higher tracking precision and enhanced robustness can be obtained using our proposed method. INDEX TERMS Fault-tolerant dynamic control, four-wheel redundantly-actuated mobile robot, fractional-order sliding mode control, wheel-ground interactions.

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Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control

Cited by 82 publications

References 30 publications

A New Non-Time Based Tracking Control for Mobile Robot

A New Non-Time Based Tracking Control for Mobile Robot

Finite-time dynamic surface approach to nonlinear systems with mismatched uncertainties

Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot

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