Sliding mode anti-interference tracking control for nonholonomic dynamical systems with time delay

被引：3

作者：

Chen H. ^{[1
]}

Wang M.-Q. ^{[1
]}

Chen Y. ^{[2
]}

机构：

[1] College of Science, Hohai University, Jiangsu, Nanjing

[2] College of Mechanical and Electrical Engineering, Hohai University, Jiangsu, Changzhou

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 07期

关键词：

external disturbance; nonholonomic mobile robot; sliding mode control; time delay;

D O I：

10.7641/CTA.2022.20156

中图分类号：

学科分类号：

摘要：

In this article, a time delay estimation sliding mode control method based on nonlinear disturbance observer is presented for trajectory tracking of nonholonomic wheeled mobile robot systems with time delays and external disturbances. Firstly, the disturbance observer is used to estimate the external disturbance of the system, and then the posture of a mobile robot is represented by polar coordinates and the dynamic equation of the robot is feedback-linearized by the computed-torque method, the sliding mode with time delay control is designed for asymptotically stabilizing the mobile robot to a desired trajectory and effectively reduce the overestimation of control gain. The Lyapunov function are invoked to establish the stability of the closed loop system. Simulation results demonstrate the effectiveness of accurate tracking capability and the robust performance of the proposed scheme. © 2023 South China University of Technology. All rights reserved.

引用

页码：1180 / 1189

页数：9

共 28 条

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