2023
DOI: 10.3390/machines11040470
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Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots

Abstract: This paper presents a novel extended state observer (ESO) approach for a class of plants with nonlinear dynamics. The proposed observer estimates both the state variables and the total disturbance, which includes both exogenous and endogenous disturbance. The study’s changes can be summarized by developing a sliding mode higher-order extended state observer with a higher-order augmented state and a nonlinear function for the estimation error correction terms (SMHOESO). By including multiple enhanced states, th… Show more

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Cited by 4 publications
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“…Additionally, there is a nonlinear damping disturbance caused by changes in d mg and d gl . While the position-speed-current (torque) three-loop feedback control algorithm utilized in transmission flexible joint control can adapt to nonlinear disturbances caused by friction changes, significant changes in load inertia and transmission stiffness can result in significantly worse control characteristics, larger tracking errors of motion trajectory, and flexible joint vibrations [29].…”
Section: Structure Of Cdhsmentioning
confidence: 99%
“…Additionally, there is a nonlinear damping disturbance caused by changes in d mg and d gl . While the position-speed-current (torque) three-loop feedback control algorithm utilized in transmission flexible joint control can adapt to nonlinear disturbances caused by friction changes, significant changes in load inertia and transmission stiffness can result in significantly worse control characteristics, larger tracking errors of motion trajectory, and flexible joint vibrations [29].…”
Section: Structure Of Cdhsmentioning
confidence: 99%