Sliding mode control of a differential-drive mobile robot following a path (original) (raw)
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Sliding Mode Controller for Trajectory Tracking Control of Autonomous Mobile Robot
ELEKTRIKA- Journal of Electrical Engineering, 2018
Trajectory tracking control is an important issue in the field of autonomous mobile robot. In high speed and heavy load applications, the dynamic of autonomous mobile robot plays an important factor in allowing the robot to follow the desired trajectory path. However, the parameters attribute to robot dynamic are difficult to model and highly uncertain. One of the uncertainty factors is the load variation which changes the dynamic parameters of autonomous mobile robot. Meanwhile, Sliding Mode Control (SMC) is well known for its robustness against model uncertainties and disturbances. In this paper, design of dynamic controller based on SMC technique for trajectory tracking control of autonomous mobile robot system is presented. The model of mobile robot is developed based on Pioneer 3-DX mobile robot. The trajectory tracking controller is divided into two parts, kinematic controller and dynamic controller. Stability of both dynamic and kinematic controller is verified using Lyapunov stability theory. The performance of trajectory tracking control for proposed dynamic controller based on SMC technique is compared against dynamic controller based on Proportional-Integral-Derivative (PID) technique with and without the presence of dynamic uncertainties. Simulation results show that the proposed dynamic controller based on SMC technique yields better performance in trajectory tracking control in comparison to PID technique.
Sliding Mode Motion Control of Nonholonomic Mobile Robots
IEEE Control Systems, 1999
s nonholonomic mobile robots have constraints imposed on motions that are not integrable, i.e., the constraints cannot be written as time derivatives of some function of the generalized coordinates, advanced techniques are needed for the tracking control. In this paper a robust control law is proposed for trajectory tracking of nonholonomic wheeled mobile ro-One important topic that requires much attention (but has been studied little) is the problem of control of nonholonomic systems when there are model uncertainties. In most cases, the control problem is stated in terms of stabilizing a simple mathematical model, and the state variables are supposed to be known exactly at any time. However, taking into account several intrinsic characteristics of nonholonomic systems such as the actual bots. The state variables of the mobile robot are represented in polar coordinates, and the dynamic equation of the system is feedback-linearized by a computed-torque method. A novel sliding mode control law is derived for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to bounded system disturbances. Simulation examples and experimental results are provided to show the effectiveness of the accurate tracking capability and the robust performance of the proposed controller. [ 1 11, proposed a sliding mode control that exploits a property named differential flatness of the kinematics of nonholonomic systems. In Guldner, et al. [ 121, a Lyapunov navigation function
Discrete-time sliding mode path-tracking control for a wheeled mobile robot
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
In this work, it is presented a discrete time control strategy for the solution of the path-tracking problem for a wheeled mobile robot of the type (2,0). It is assumed that the mobile robot is remotely controlled over a communication network that induces a transport delay. The exact discretetime model of the mobile robot including the induced delay is developed. It is presented a discrete-time strategy control based on a sliding mode approach that allows to solve the pathtracking problem. The closed loop stability of the overall system is clearly stated. The proposed control strategy is evaluated by mean of computer simulation.
Sliding Mode Control for Nonholonomic Mobile Robot
2000
A new control scheme is presented for nonholonomic mobile robots. The main idea of this paper is to consider the natural algebraic structure of the chained form system together with ideas from sliding mode theory while designing the control law. At first, the system model is converted into a single-input time-varying linear system by setting one input as a time-varying function. We design the sliding mode control law by using pole placement based on pseudo-linearized model. The point stabilization and path-tracking problem for chained form are studied based on these ideas. Simulations for both unicycle car and car like robot showed this control algorithm can make the mobile robot stabilized at desired configuration and following the desired trajectory with a high precision.
Sliding mode control of a car-like mobile robot using single-track dynamic model
IFAC Proceedings Volumes, 1999
An easy-to-implement global trajectory tracking algorithm in the class of variable structure systems is designed and analyzed within the single-track dynamical model framework. The algorithm uses measurements of the position, orientation and the yaw rate of the robot and is robust with respect to the parameter variations.
Balkan Journal of Electrical and Computer Engineering, 2018
In this study, real-time trajectory tracking control of an autonomous mobile robot, actuated by two DC motors, has been designed, analyzed and studied. Two different control approaches such as model based sliding mode (SMC) and the classical proportional–integral–derivative (PID) control are employed to increase the tracking performance of the mobile robot. A model based SMC technique has been presented in order to consider the complete dynamic model of the robot and in order to increase trajectory tracking performance of the system. The experimental outcomes strongly verified that the proposed controller gives a quite well trajectory tracking response and smaller magnitude overshot compared with the classical PID controller.
Trajectory tracking of a mobile robot using adaptive sliding mode control
2021
The purpose of this paper is to design a control system for a mobile four-wheeled robot, whose task is to achieve stability and proper operation in the execution of commands. As a result of the nonlinear dynamics, structural and parametric uncertainty of this robot, various control approaches are used in order to achieve stability, proper performance, minimize modeling errors and uncertainties, etc. By adjusting linear and angular velocities in the presence of external disturbances and parametric uncertainty, this algorithm is able to follow a predetermined trajectory based on the information contained in the signals received by the sensor from the trajectory.. In previous articles, the upper bound of uncertainty was assumed to be known. This paper makes the assumption that the upper band of uncertainty and disturbances in robotic systems is unknown, since, in many cases, we cannot know the extent of these uncertainties in practice. In our recent paper, we generalized the sliding mo...
Trajectory-tracking and discrete-time sliding-mode control of wheeled mobile robots
2011 IEEE International Conference on Information and Automation, 2011
By implementing this idea, we can overcometrajectory tracking problem of wheeled mobile robot by using discrete-time sliding mode controller. The mobile robot having two differentially driving wheels (2DW) and two balancing caster taken into account as powerboat. It is an automated guided system which is specially equipped and designed for intelligent delivery, autonomous and handling of large payload. Mobile robot member is one of the powerboat of pioneer family of mobile robot, which have research development platform which share a common architecture of, employ-intelligent based client-server robotic controls and foundation software. PowerBot is perfect robot for both, indoor and outside transportation because it has high load carrying capacity and small size. The algorithm which is in the form of discrete-time domain which is used to avoid problem caused by discretization of persistent time controllers. The adequacy of the proposed controller is proved by simulation result and real time result.
Discrete-Time Sliding Mode Control for Wheeled Mobile Robot Trajectory-Tracking
By implementing this idea, we can overcometrajectory tracking problem of wheeled mobile robot by using discrete-time sliding mode controller. The mobile robot having two differentially driving wheels (2DW) and two balancing caster taken into account as powerboat. It is an automated guided system which is specially equipped and designed for intelligent delivery, autonomous and handling of large payload. Mobile robot member is one of the powerboat of pioneer family of mobile robot, which have research development platform which share a common architecture of, employ-intelligent based client-server robotic controls and foundation software. PowerBot is perfect robot for both, indoor and outside transportation because it has high load carrying capacity and small size. The algorithm which is in the form of discrete-time domain which is used to avoid problem caused by discretization of persistent time controllers. The adequacy of the proposed controller is proved by simulation result and real time result.