Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots

Abstract

This paper proposes an integral sliding control system based on the nonlinear disturbance observer, aiming to the trajectory tracking of the mobile robot under the external disturbance. First, a kinematic model of mobile robot was built, besides, the position error signal was gained by the biological membrane potential model, and the problem of velocity oscillation was solved by the design of the backstepping controller. Then, an integral sliding control system was designed in accordance with the kinematic model of the mobile robot, meanwhile, a disturbance observer was designed in consideration of external disturbance to do the real-time observation on the disturbance occurring in the system with an addition of feedforward compensation and the observation error was converged by selecting the design parameters. The Lyapunov function was used to prove the stability of the system. Finally, the simulation of tracking circularity trajectory was utilized, with the comparison of trajectory without the use of jammer, to prove that this method can well overcome the nonlinear and uncertainty originated from external, thereby improving the control performance and increasing the robustness.INDEX TERMS Mobile robots, trajectory tracking, disturbance observer, integral sliding mode variable structure, back-stepping control.

Enhanced Bioinspired Backstepping Control for a Mobile Robot With Unscented Kalman Filter

“…There have been many studies for tracking control of robots, and the research can be mainly divided into four different categories: 1) linearization [6]- [8]; 2) sliding mode [9]- [11]; 3) backstepping [12]- [16]; 4) neural networks and fuzzy systems [17]- [19]. All these methods have their pros and cons.…”

Stabilization of Robots With a Regulator Containing the Sigmoid Mapping

“…Authors employed neural network sliding mode regulators of wheeled aerial vehicles and robotic manipulators in [16]- [18], and [19]. In [20]- [22], and [23], authors detailed sliding mode regulators based on observers…”

“…The aforementioned research is divided in two big groups where [16]- [19], [21], [22], [24]- [26], [29], [32]- [34] are focused on the stabilization of nonlinear models subject to nonlinear uncertainties, and [9]- [15], [20], [23], [27], [28], [30], [31] are focused on the stabilization of nonlinear models subject to external perturbations. It is important to note that in most of the cases the nonlinear uncertainties or external perturbations are unknown.…”

A sEMG-Based Shared Control System With No-Target Obstacle Avoidance for Omnidirectional Mobile Robots

“…In order to optimize the tracking performance, a lot of efforts have been made to improve the controller. In [19], an integral sliding controller was proposed to deal with the problem of steady state error. In [20], targeted at the uncertain nonholonomic mobile robot, a simple adaptive controller incorporating actuator dynamics was developed.…”