Singularity Free Stabilizing Controller for Non-Holonomic Mobile Robot Using Novel Sliding Manifold

被引：0
作者：
Singh, Padmini [1 ]
Yogi, Subhash Chand [1 ]
Behera, Laxmidhar [1 ]
Verma, Nishchal K. [1 ]
机构：
[1] Indian Inst Technol, Dept Elect Engn, Kanpur, Uttar Pradesh, India
来源：
2021 14TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON) | 2021年
关键词：
Kinematic stabilization; Dynamic stabilization; Mobile robot; Sliding mode control; SYSTEMS;
D O I：
10.1109/INDUSCON51756.2021.9529420
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This work proposes a singularity free stabilizing controller for a non-holonomic mobile robot. The control objective is to force the system states from any initial position to the origin in finite time. In the first step the state transformation has been done on the kinematic and dynamic model of the mobile robot. After transformation the kinematic and dynamic model has been converted to non-holonomic integrator and non-holonomic double integrator respectively. Further a novel sliding surface has been proposed in the paper which stabilizes both non-holonomic integrators in finite time. Kinematic stabilization has been done using power rate reaching law of sliding mode controller (SMC) and dynamic stabilization of mobile robot has been done using relay free SMC technique. Stability analysis of the proposed kinematic and dynamic controller has been given using Lyapunov stability theory. Simulations studies are performed, and it is shown that the proposed controller is better than the existing state of the art.
引用
收藏
页码：1017 / 1022
页数：6
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