Trajectory Tracking Strategy for Sliding Mode Control With Double Closed-Loop for Lawn Mowing Robot Based on ESO

Abstract

The mowing robots work with a multivariable strong coupling underactuated system that is mostly troubled by difficulty controlling and unsatisfactory accuracy. Especially, the frequent external disturbances and parameter changes are likely to get missed and heavy cutting. In this paper, a new trajectory tracking control method based on extended state observer (ESO) is introduced with a particular focus on dual closed-loop sliding mode. Firstly, from the perspective of kinematics, a speed assistant controller was designed to generate the speed control quantity, and secondly, a sliding mode control algorithm based on the improved Fractional Power Rate Reaching Law (IFPRRL) was programmed to control the drive motor that tracked the speed control quantity. By means of comparison, our improved algorithm presented faster arrival time and better robustness along with similar jittering. At the same time, the robustness of the system was further enhanced with the help of an optimized ESO to tackle unmodeled disturbances and uncertain disturbances during the operation. Finally, the experimental analysis of the motor drive circuit and the trajectory tracking control system of the lawn mowing robot were both carried out respectively. The analysis shows that the performance of the proposed reaching law sliding mode control algorithm had some new pleasing changes, such as adjustment time and robustness. The circular trajectory and the detour mowing trajectory were respectively tracked in the double closed-loop sliding mode designed in this paper. The experimental goal was to ensure that the error vector Pe = (x Axis position error xe, y Axis position error ye, Angle error θe) all remaining at (0.01m, 0.01m, 0.01rad) were 5.34s and 5.36s, respectively, and both could be finally converged to 0. The results show that the newly developed controller based on ESO presented smaller arrival time and stronger robustness. The dual-closed-loop control of sliding-mode trajectory tracking method was capable to meet the real-time and precision requirements of the lawnmower robot for quick trajectory tracking.

Backstepping and Novel Sliding Mode Trajectory Tracking Controller for Wheeled Mobile Robots

“…The ideal model is often theoretical and may change during operation, making real-time adjustment of PID parameters challenging. Consequently, the sliding mode control algorithm has emerged as a viable alternative [5][6][7][8]. In [9], a controller is developed based on the position and heading errors of a mobile robot to enable the stable tracking of circular and straight paths despite significant tracking errors and external disturbances.…”

Disturbance Compensation-Based Optimal Tracking Control for Perturbed Nonlinear Systems

“…In recent years, tracking control for nonlinear systems has always been investigated for many real-world plants in practices, such as unmanned aerial vehicles [1], [2], robots [3], and quadrotors [4], [5]. To realize the performance of tracking, massive various control algorithms are employed for tracking control problems, including backstepping control [6], sliding model control [7], [8] and model predictive control [9].…”