Coupled fractional-order sliding mode control and obstacle avoidance of a four-wheeled steerable mobile robot

Xie, Yuanlong; Zhang, Xiaolong; Meng, Wei; Zheng, Shiqi; Jiang, Laizhu; Meng, Jie; Wang, Zhen

doi:10.1016/j.isatra.2020.08.025

Cited by 105 publications

(61 citation statements)

References 45 publications

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“…For simulation verification of the proposed RSSMC method under another widely used configuration mode, i.e., double-Ackerman mode, we carry out this case with a single-lane change maneuver. It should also be noted that the traditional SMC method that adopts reaching law with a constant term for comparison [12]. As can be observed from Figure 10 and Figure 11, the test results are in line with the theoretical analysis.…”

Section: Case 3) Tracking Control Under Double-ackerman Modesupporting

confidence: 81%

“…Nonignorable high chattering activities will be resulted from the discontinuous control mechanism of traditional sliding mode mechanism. A possible way to mitigate the undesirable chattering is to revise the enforcement law through designing a specialized function related to the desired sliding surfaces, such as the boundary layer or some smoother terms [12]. However, a trade-off between enhancing the tracking performance and strengthening the system robustness is imposed on optimizing a practical smooth reaching law [39]- [41].…”

Section: Introductionmentioning

confidence: 99%

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Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

et al. 2020

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Profiting from its remarkable maneuverability and efficiency, the four-wheeled autonomous mobile robot (FAMR) is appealing for intelligent manufacturing and automation applications. However, the suppression of unknown disturbances and system uncertainties remains a challenge for formulating a precise trajectory-tracking control scheme. This paper achieves the anti-disturbance direct yaw moment control of a developed FAMR by proposing a robust super-twisting sliding mode controller (RSSMC) to enhance the dynamic tracking and disturbance rejection property simultaneously. One of the major contributions is that the presented RSSMC method is constructed with a novel reaching law to eliminate the matched perturbations and time-varying lumped disturbances. As another distinguishing feature, this method is capable of driving the resultant FAMR trajectory into a bounded switching region and maintaining it therein for subsequent periods in finite time. To guarantee the closed-loop stability and finite-time convergence, new sufficient conditions for specifying the variable gains are determined utilizing Lyapunov functions. Finally, under the direct yaw moment control framework, simulation experiments of a developed FAMR system are offered to verify the practicability of the RSSMC scheme.

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Section: Case 3) Tracking Control Under Double-ackerman Modesupporting

confidence: 81%

Section: Introductionmentioning

confidence: 99%

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

et al. 2020

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“…In recent years, the wide range of applications for factory automation have caused an increasing number of studies on autonomous transportation. There are plenty of mobile robots that are capable of handling dissimilar tasks in a warehouse-for instance, a tractor-trailer using a feedback linearizing dynamic controller [26], automatic visual guidance for a forklift vehicle [27,28], enhanced control strategy for a mobile robot [29,30], and upper limits of forces for a freight-car truck [31]. Each of these is available for a specified working area.…”

Section: Methodsmentioning

confidence: 99%

Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

et al. 2020

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Currently, integrated trends play a key role in every aspect of automation applications. In particular, if the mechanization of agriculture becomes a competitive factor among farmers or nations, then the multi-functional transportation of agricultural products is inevitable in global trade. In sustainable transportation, the challenge of overcoming stable control in harsh environments, such as through imprecise parameters or varying loads, should be addressed. In this paper, a novel controller for a nonholonomic mechanical system able to adapt to uncertainties is proposed. Based on the multi-functional autonomous carrier (MAC), the system configuration of the kinematic and dynamic model is launched in order to identify the unstable problems that arise when tracking the trajectory. To solve these troubles, the decoupled formation of a MAC system has been investigated by considering two second-order components, namely a linear speed-based sub-system and angular speed-based sub-system. To stabilize the whole system using the Lyapunov theory, the advanced control techniques are studied. To validate the proposed approach, a series of test scenarios have been carried out. From the superior performance of numerous trials, it is clear that our approach is effective, feasible, and reasonable for the advanced control of agricultural applications.

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“…However, despite its satisfactory performance in practical applications, it has some defects, such as the chattering problem, failing to establish a finite-time convergence of the systems states to the equilibrium point, and producing unnecessarily large control signals [23]. Accordingly, to overcome these shortcomings and enhance their performance, various modifications have been developed in the literature, such as adaptive SMC [24], higher-order SMC [25][26][27], soft computingbased SMC [28,29], and fractional calculus-based SMC [30,31]. Higher-order SMCs, such as terminal SMC (TSMC) approaches, have successfully dealt with the finite-time convergence and large control signal problems associated with conventional SMCs [32].…”

Section: Introductionmentioning

confidence: 99%

Maximum Power Extraction from Wind Turbines Using a Fault-Tolerant Fractional-Order Nonsingular Terminal Sliding Mode Controller

et al. 2021

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This work presents a nonlinear control approach to maximise the power extraction of wind energy conversion systems (WECSs) operating below their rated wind speeds. Due to nonlinearities associated with the dynamics of WECSs, the stochastic nature of wind, and the inevitable presence of faults in practice, developing reliable fault-tolerant control strategies to guarantee maximum power production of WECSs has always been considered important. A fault-tolerant fractional-order nonsingular terminal sliding mode control (FNTSMC) strategy to maximize the captured power of wind turbines (WT) subjected to actuator faults is developed. A nonsingular terminal sliding surface is proposed to ensure fast finite-time convergence, whereas the incorporation of fractional calculus in the controller enhances the convergence speed of system states and simultaneously suppresses chattering, resulting in extracted power maximisation by precisely tracking the optimum rotor speed. Closed-loop stability is analysed and validated through the Lyapunov stability criterion. Comparative numerical simulation analysis is carried out on a two-mass WT, and superior power production performance of the proposed method over other methods is demonstrated, both in fault-free and faulty situations.

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Coupled fractional-order sliding mode control and obstacle avoidance of a four-wheeled steerable mobile robot

Cited by 105 publications

References 45 publications

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

Maximum Power Extraction from Wind Turbines Using a Fault-Tolerant Fractional-Order Nonsingular Terminal Sliding Mode Controller

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