Abstract
This paper proposes an adaptive terminal sliding mode trajectory tracking control scheme for the wheel mobile robot in the presence of wheel skidding and slipping and unknown center of mass. An auxiliary kinematics controller is designed to make the auxiliary velocity of the robot asymptotically converge to the desired velocity, and a torque controller is designed to make the velocity of the robot converge to the desired velocity within a limited time. The disturbance observer is used to estimate the lumped disturbance. It is proved that all the signals in the closed-loop system are bounded and that the tracking error converges to zero. Simulation results demonstrate the effectiveness of the proposed scheme.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
M. Jianqiu, Y. Xinggang, S.K. Spurgeon, et al., Trajectory tracking control of a two-wheeled mobile robot using sliding mode techniques, in Control Conference. IEEE, pp. 3307–3312 (2015)
T. Fukao, H. Nakagawa, N. Adachi, Adaptive tracking control of a nonholonomic mobile robot. Rob. Autom. IEEE Trans. 16(5), 609–615 (2004)
W.M.E. Mahgoub, I.M.H. Sanhoury, Back stepping tracking controller for wheeled mobile robot. in International Conference on Communication, Control, Computing and Electronics Engineering. IEEE, pp. 1–5 (2017)
C.B. Low, W. Danwei, GPS-based tracking control for a car-like wheeled mobile robot with skidding and slipping. IEEE/ASME Trans. Mechatronics, 13(4), 480-484 (2009)
S.J. Yoo, Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping. IET Control Theory Appl. 4(10), 2109–2119 (2010)
H. Dawei, Zhai Junyong, A. Weiqing et al., Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots. Neurocomputing 198(3), 74–79 (2016)
Z. Jinchuan, W. Hai, M. Zhihong et al., Robust motion control of a linear motor positioner using fast nonsingular terminal sliding mode. IEEE/ASME Trans. Mechatron. 20(4), 1743–1752 (2015)
K. Hyoseok, P. Changwoo, H. Cangho, Alternative identification of wheeled mobile robots with skidding and slipping. Int. J. Control Autom. Syst. 14(4), 1055–1062 (2016)
S.M. Swadi, M.A. Tawfik, E.N. Abdulwahab, et al., Fuzzy-backstepping controller based on optimization method for trajectory tracking of wheeled mobile robot, in Uksim-Amss, International Conference on Computer Modelling and Simulation. IEEE, pp. 147–152, (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Yan, J., Shi, W. (2019). Adaptive Terminal Sliding Mode Trajectory Tracking Control of Mobile Robot Based on Disturbance Observer. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 529. Springer, Singapore. https://doi.org/10.1007/978-981-13-2291-4_53
Download citation
DOI: https://doi.org/10.1007/978-981-13-2291-4_53
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-2290-7
Online ISBN: 978-981-13-2291-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)