Sliding mode controller design for trajectory tracking of a non-holonomic mobile robot with disturbance

被引：33

作者：

Goswami, Niraj Kumar ^{[1
]}

Padhy, Prabin Kumar ^{[1
]}

机构：

[1] PDPM IIITDM, Dept Elect & Commun Engn, Jabalpur 482005, India

来源：

COMPUTERS & ELECTRICAL ENGINEERING | 2018年 / 72卷

关键词：

Non-holonomic mobile robot; Under-actuated system; Sliding mode control; Switching control; UNCERTAINTIES; POSITION; GAIN;

D O I：

10.1016/j.compeleceng.2018.09.021

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper develops sliding mode controller for the trajectory tracking of a non-holonomic differentially driven wheeled mobile robot (DDWMR) with measurement noise, frictional disturbances and model uncertainties. The proposed controller is designed with the help of an existing Proportional-Integral (PI) sliding surface for trajectory tracking followed by a new Proportional-Integral-Derivative (PID) sliding surface for velocity tracking. The PI and PID sliding surfaces are based on the kinematic model and dynamic model of the robot, respectively. An adjustable gain switching controller is incorporated for minimizing the effect of disturbances and uncertainties. The closed loop stability of the system is proved using Lyapunov stability criteria. The proposed controller is validated with the help of numerical examples and real-time experiments on DDWMR. (C) 2018 Elsevier Ltd. All rights reserved.

引用

页码：307 / 323

页数：17

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