Lyapunov theory vs. sliding mode in trajectory tracking for non-holonomic mobile robots

Muhammed, Alhelou; Dib, Alaa; Albitar, Chadi

doi:10.1109/ascc.2015.7244825

Cited by 2 publications

(3 citation statements)

References 9 publications

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“…Lagrange's equation is used systematically to derive the equations of the movement considering the kinetics and the potential energies of the considered system. It is expressed by the following equation (8) d dt…”

Section: Dynamic Modelmentioning

confidence: 99%

“…1,2 Over the last decade, a lot of research effort has been put into the design of sophisticated control strategies for strongly nonlinear systems, such as nonholonomic mobile robots. [3][4][5][6][7][8] Although this class of robotic systems presents great advantages in terms of high energy efficiency, fast and precise response flexibility, and advanced control dynamics, it is very sensitive to disturbances and uncertainties. This criteria has encouraged the researchers to focus deeply on studying the stability and trajectory tracking of the considered system.…”

Section: Introductionmentioning

confidence: 99%

“…This criteria has encouraged the researchers to focus deeply on studying the stability and trajectory tracking of the considered system. [7][8][9][10][11][12][13] In this framework, Shojaei and Sharhi 14 introduced an adaptive robust controller for nonholonomic robotic systems, where parametric and nonparametric uncertainties were taken into account. Parametric uncertainties were compensated via an adaptive controller and the nonparametric uncertainties were suppressed by a sliding mode controller.…”

Section: Introductionmentioning

confidence: 99%

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

Azzabi

Nouri

2021

International Journal of Advanced Robotic Systems

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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.

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Section: Dynamic Modelmentioning

confidence: 99%