Design of a robust tracking controller for a nonholonomic mobile robot based on sliding mode with adaptive gain

Abstract

This article propounds addressing the design of a sliding mode controller with adaptive gains for trajectory tracking of unicycle mobile robots. The dynamics of this class of robots are strong, nonlinear, and subject to external disturbance. To compensate the effect of the unknown upper bounded external disturbances, a robust sliding mode controller based on an integral adaptive law is proposed. The salient feature of the developed controller resides in taking into account that the system is MIMO and the upper bound of disturbances is not priori known. Therefore, we relied on an estimation of each perturbation separately for each subsystem. Hence, the proposed controller provides a minimum acceptable errors and bounded adaptive laws with minimum of chattering problem. To complete the goal of the trajectory tracking, we apply a kinematic controller that takes into account the nonholonomic constraint of the robot. The stability and convergence properties of the proposed tracking dynamic and kinematic controllers are analytically proved using Lyapunov stability theory. Simulation results based on a comparative study show that the proposed controllers ensure better performances in terms of good robustness against disturbances, accuracy, minimum tracking errors, boundness of the adaptive gains, and minimum chattering effects.

LiDAR Based Trajectory-Tracking of an Autonomous Differential Drive Mobile Robot Using Fuzzy Sliding Mode Controller

“…Firstly, the following nonlinear sliding surfaces s p and s θ constructed by tracking errors are designed. VOLUME 10, 2022 Here, the sliding surface s p corresponds to trajectory tracking and s θ corresponds to robot's heading tracking represented as s p = ėp + k p e p + f p sign(e p ) s θ = ėθ + k θ e θ + f θ sign(e θ ) (16) where k p , k θ , f p , and f θ are positive constants and sign(•) is a signum function [13], [15], [21], [26], [29], [31], [32], [35], [36]. Eq.…”

“…The most recent developments in trajectory-tracking using fuzzy logic [14]- [22], [24], [30], [33]- [35] and sliding mode control techniques [13], [29]- [32], [35]- [39] are the motivation behind the work presented herein, which takes advantage of findings from both methods. Therefore, the FSMC based on a LiDAR point cloud data is proposed here to control an ADDMR system to follow a trajectory at prescribed time from arbitrary initial positions under torque disturbances.…”

Optimization of the Sliding Mode Control (SMC) with the Particle Swarm Optimization (PSO) Algorithm for Photovoltaic Systems Based on MPPT

“…It has appeared well in the fields of electronics and computing. Indeed, this command is based on a high frequency switching for a better sliding speed [14]- [16].…”

Designing a free chattering robust nonlinear sliding mode control for underactuated two wheels mobile robots with disturbances and uncertainties

“…However, uncertainties have not been considered in controller design, which may lead to the system instability. For solving this problem, many researchers have designed adaptive controllers (Azzabi and Nouri, 2021; Dönmez et al, 2020; Guo et al, 2020). Although these controllers are robust against uncertainties and disturbances, they suffer from complex calculations.…”