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.
引用
收藏
页码：765 / 770
页数：6
相关论文
共 50 条
  • [1] Fast Terminal Sliding Mode Control for Autonomous Rice Seeding Machine Based on Disturbance Observer
    Wu T.
    Li Y.
    Lin H.
    Gong L.
    Liu C.
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2021, 52 (12): : 24 - 31
  • [2] Terminal sliding mode control for robotic manipulator based on sliding mode disturbance observer
    Han J.
    Wu A.
    Dong N.
    Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology), 2020, 51 (10): : 2749 - 2757
  • [3] Terminal Sliding Mode Control of Mobile Wheeled Inverted Pendulum System with Nonlinear Disturbance Observer
    Ri, SongHyok
    Huang, Jian
    Wang, Yongji
    Kim, MyongHo
    An, Sonchol
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2014, 2014
  • [4] Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots
    Yang, Xiaohui
    Wei, Peng
    Zhang, Yangyang
    Liu, Xiaoping
    Yang, Li
    IEEE ACCESS, 2019, 7 (48382-48391) : 48382 - 48391
  • [5] Recursive terminal sliding mode control for hypersonic flight vehicle with sliding mode disturbance observer
    Wang, Jianmin
    Wu, Yunjie
    Dong, Xiaomeng
    NONLINEAR DYNAMICS, 2015, 81 (03) : 1489 - 1510
  • [6] Recursive terminal sliding mode control for hypersonic flight vehicle with sliding mode disturbance observer
    Jianmin Wang
    Yunjie Wu
    Xiaomeng Dong
    Nonlinear Dynamics, 2015, 81 : 1489 - 1510
  • [7] A terminal sliding mode tracking control algorithm for mobile robots
    Zhao, Yihong
    Zhou, Jiping
    Chen, Rongfa
    ADVANCES IN MACHINING AND MANUFACTURING TECHNOLOGY IX, 2008, 375-376 : 588 - 592
  • [8] Cascade Terminal Sliding Mode Control for PMSM with Nonlinear Disturbance Observer
    Che, Xin
    Tian, Dapeng
    Jia, Ping
    2021 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 2021,
  • [9] Nonsingular Terminal Sliding Mode Control for PMLSM Based on Disturbance Observer
    Ding, Bo
    Xu, Dezhi
    Yang, Weilin
    Bi, Kaitao
    Yan, Wenxu
    PROCEEDINGS OF 2020 IEEE 9TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS'20), 2020, : 850 - 854
  • [10] Disturbance Observer based Terminal Sliding Mode Control of an Underwater Manipulator
    Venkatesan, Vinoth
    Mohan, Santhakumar
    Kim, Jinwhan
    2014 13TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION (ICARCV), 2014, : 1566 - 1572
12345