Dynamic adaptive backstepping and saturated proportional integral sliding mode control for uncertain nonlinear systems

Le, Huy Tung; Lee, Choon Young; Lee, Sang Ryong

doi:10.1007/s12541-010-0061-9

Cited by 4 publications

(2 citation statements)

References 23 publications

(21 reference statements)

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“…(11) of the omnidirectional mobile platform (OMP) with disturbance and friction, if the control laws in Eqs. (20) and (22) are applied, the tracking error vector e converges to zero asymptotically as t → ∞.…”

Section: Differential Sliding Mode Controller (Dsmc) Design For the Ompmentioning

confidence: 99%

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Tracking control of omnidirectional mobile platform with disturbance using differential sliding mode controller

Dinh

Nguyen

Shin

et al. 2012

Int. J. Precis. Eng. Manuf.

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In this paper, a differential sliding mode tracking controller (DSMC) using voltage input is designed for trajectory tracking of the three-wheeled omnidirectional mobile platform (OMP) based on its dynamic modeling with disturbances. First, a tracking error vector is defined, and then a differential sliding surface vector is chosen. A control law is obtained by using Lyapunov direct method with backstepping technique. The control law stabilizes the sliding surface vector and makes the tracking error vector go to zero asymptotically. To implement the designed controllers, a control system is developed based on PIC microcontroller. A camera sensor and encoders are used. The simulation and experiment results are presented to illustrate effectiveness of the proposed controller.

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Section: Differential Sliding Mode Controller (Dsmc) Design For the Ompmentioning

confidence: 99%

“…The first derivative of V is derived into In order to reduce the chattering phenomenon, the signum function sign(S) is replaced by a saturation function sat(S, δ), 17,19,20 and the control law η in Eq. (22) can be re-expressed as follows:…”

Section: Differential Sliding Mode Controller (Dsmc) Design For the Ompmentioning

confidence: 99%