Terminal Sliding Mode Control with Disturbance Observer for Autonomous Mobile Robots

被引：0
作者：
Xu Kun [1 ,2 ]
Chen Mou [1 ,2 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Jiangsu, Peoples R China
[2] Nanjing Univ Aeronaut & Astronaut, Jiangsu Key Lab Internet Things & Control Technol, Nanjing 210016, Jiangsu, Peoples R China
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
Autonomous mobile robot; FTSMC; disturbance observer; trajectory tracking; ADAPTIVE-CONTROL; TRACKING CONTROL; LINEAR-SYSTEMS; MANIPULATORS; UNCERTAINTY;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To realize trajectory tracking of autonomous mobile robots, a fast terminal sliding mode control (FTSMC) law is developed in this paper. And, a sliding mode disturbance observer (SMDO) is designed to estimate the uncertainties in system and improve the tracking performance. The designed control law based on disturbance observer avoids the singularity of traditional FTSMC and has a faster convergence speed and a higher tracking precision. The simulation results verify the effectiveness of the developed controller of the autonomous mobile robot.
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页码：765 / 770
页数：6
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