PD-Super-Twisting Second Order Sliding Mode Tracking Control for a Nonholonomic Wheeled Mobile Robot

youssef, Ebrahim Samer El; Martins, Nardênio Almeida; Pieri, Edson Roberto De; Moreno, Ubirajara F.

doi:10.3182/20140824-6-za-1003.02210

Cited by 15 publications

(19 citation statements)

References 7 publications

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“…This oscillation is the classical sliding mode drawback, and it is known by chattering. The authors in [15]- [17] and [16]- [18] used a Second-Order SMC (SOSMC) based on the Super-Twisting algorithm (ST) and the proposed controller designs showed good performance. In [19], [20], SOSMC has been designed and experimentally implemented for quadrotor trajectory tracking.…”

Section: Introductionmentioning

confidence: 99%

Higher-Order Super-Twisting Control for Trajectory Tracking Control of Skid-Steered Mobile Robot

2020

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In this paper, Higher-Order Super-Twisting control (HOST) is designed and implemented for trajectory tracking control of four wheels Skid-Steered Mobile Robot (SSMR). The conventional Super-Twisting (ST) Second-Order Sliding Mode Control (SOSMC) is robust, yet it has two main drawbacks for such a system, 1) the chattering phenomena persists on the system inputs and outputs which leads to vibration in the robot motors and 2) the SSMR system has a relative degree equal to two. Therefore, the ST control design requires a sliding variable containing error derivatives, which only permit asymptotic convergence. For that, a higher-order controller is required for this control structure, which is designed for second order sliding variable, in order to obtain a robust controller with finite-time convergence. The HOST control can reduce chattering in steady-state compared with conventional ST-SOSMC and converge the state variables in finite time. The performance of this controller has been validated experimentally on Pioneer P3AT SSMR robot. The experimental results show good performance under parametric uncertainty variations and external disturbance with neglected chattering.

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Section: Introductionmentioning

confidence: 99%

Higher-Order Super-Twisting Control for Trajectory Tracking Control of Skid-Steered Mobile Robot

2020

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“…is method allows the finite-time convergence of sliding variables and their primary derivatives under disturbances and parameter uncertainties. In [6,[13][14][15], a second-order SMC based on the super-twisting algorithm was adopted. Compared with SMC, chattering is slightly reduced, and the robustness of the controller is maintained.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers

Liu

Nie

Sun

et al. 2020

Journal of Control Science and Engineering

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In this paper, a robust adaptive output feedback control strategy based on a sliding mode super-twisting algorithm is designed for the trajectory tracking control of a wheeled mobile robot. First, a robust adaptive law is designed to eliminate the influence of parameter uncertainties. Second, a double-power sliding mode surface is designed to improve the response speed of the robot system. Finally, a high-gain observer is employed to estimate the speed information. The stability of the closed-loop system is proved using the Lyapunov stability theorem. The effectiveness of the proposed control strategy is verified by simulation.

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“…A smooth time-varying kinematic controller capable of converting between stabilizer and tracker rather than switching between two controllers has been proposed. 8 In addition, the control problems in WMRs are more challenging under the presence of input disturbances, 12 unknown parameters, 13 or unmodeled dynamics, 7 such that the design of robust controllers to achieve good accuracy in trajectory tracking or regulation tasks is fundamental. In this vein, the trajectory tracking problem has been addressed by combining kinematic and dynamic control.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers

Becerra

Colunga

Romero

2018

International Journal of Advanced Robotic Systems

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This article is devoted to the design of robust position-tracking controllers for a perturbed wheeled mobile robot. We address the final objective of pose-regulation in a predefined time, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To do so, we propose the robust tracking of adequate trajectories for position coordinates, enforcing that the robot’s heading evolves tangent to the position trajectory and consequently the robot reaches a desired orientation. The robust tracking is achieved by a proportional–integral action or by a super-twisting sliding mode control. The main contribution of this article is a kinematic control approach for pose-regulation of wheeled mobile robots in which the orientation angle is not directly controlled in the closed-loop, which simplifies the structure of the control system with respect to existing approaches. An offline trajectory planning method based on parabolic and cubic curves is proposed and integrated with robust controllers to achieve good accuracy in the final values of position and orientation. The novelty in the trajectory planning is the generation of a set of candidate trajectories and the selection of one of them that favors the correction of the robot’s final orientation. Realistic simulations and experiments using a real robot show the good performance of the proposed scheme even in the presence of strong disturbances.

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PD-Super-Twisting Second Order Sliding Mode Tracking Control for a Nonholonomic Wheeled Mobile Robot

Cited by 15 publications

References 7 publications

Higher-Order Super-Twisting Control for Trajectory Tracking Control of Skid-Steered Mobile Robot

Higher-Order Super-Twisting Control for Trajectory Tracking Control of Skid-Steered Mobile Robot

Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers

Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers

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