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

被引：77

作者：

Matraji, Imad ^{[1
]}

Al-Durra, Ahmed ^{[1
]}

Haryono, Andri ^{[1
]}

Al-Wahedi, Khaled ^{[1
]}

Abou-Khousa, Mohamed ^{[1
]}

机构：

[1] Khalifa Univ Sci & Technol, Dept Elect & Comp Engn, Sas Al Nakhl Campus, Abu Dhabi, U Arab Emirates

来源：

CONTROL ENGINEERING PRACTICE | 2018年 / 72卷

关键词：

Skid Steered Mobile Robot; Trajectory tracking control; Adaptive Second Order Sliding Mode Control; Experimental validation; Image processing validation; DYNAMIC-MODEL; SYSTEMS; ORDER;

D O I：

10.1016/j.conengprac.2017.11.009

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents design and implementation of adaptive Second Order Sliding Mode Control (SOSMC) for a four wheels Skid-Steered Mobile Robot (SSMR). The control objective is to follow a predefined trajectory by regulating the linear and angular velocities, and in presence of external disturbance and parametric uncertainty. Adaptive Super Twisting (AST) algorithm is designed in order to build a robust controller with neglected chattering in steady state. The proposed controller is validated experimentally. The results show that the proposed controller guarantees the performance of the conventional SOSMC under external disturbance and parametric uncertainty with less chattering. (C) 2017 Elsevier Ltd. All rights reserved.

引用

页码：167 / 176

页数：10

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