Super‐twisting sliding mode trajectory tracking adaptive control of wheeled mobile robots with disturbance observer

Abstract

This article aims at the difficulties of wheeled mobile robots (WMR) system with wheeled slipping and control backlash in trajectory tracking. A novel sliding mode control strategy is proposed. For estimating the lumped disturbance, an adaptive sliding mode disturbance observer is constructed and achieves the finite-time convergence of estimate error. For the purpose of accelerating the trajectory tracking, a novel arctangent terminal sliding mode surface is designed. To overcome the control chattering, a novel super-twisting sliding mode controller is constructed which makes the control effect continuous and achieves finite-time tracking of virtual reference velocities. The asymptotic convergence of trajectory tracking error is guaranteed by the Lyapunov stability theory. The simulation and comparison results of a WMR system demonstrate the validity of the proposed scheme for trajectory tracking.

Enhanced extended state observer based prescribed time tracking control of wheeled mobile robot with slipping and skidding

“…The two systems defined above represent different system states of the original controlled system. The reference system model denotes the "expected" steady state of the controlled system (10). Meanwhile, the reference model should satisfy the following conditions:…”

“…In Reference 9, the ADRC and model predictive control are combined. Disturbance observer (DO) is considered another effective method to estimate disturbance 10–12 . In Reference 13, a nonlinear DO is used to estimate the random disturbance.…”

“…Disturbance observer (DO) is considered another effective method to estimate disturbance. [10][11][12] In Reference 13, a nonlinear DO is used to estimate the random disturbance. Collectively, these results outline a critical role for ESO and DO in estimating uncertainties and disturbances.…”

Asymptotic consensus tracking control of robotic manipulators with disturbance and dead-zone via adaptive sliding mode control

“…In [8], aiming at the problem of cooperative control of multi-Euler-Lagrange systems, a novel adaptive sliding mode control (ASMC) was designed to achieve the consensus trajectory tracking. For the purpose of alleviating the over-estimation phenomenon of disturbance compensation, the novel adaptive law was proposed in [9], which achieved the fast tracking and the suppression of over-estimation phenomenon by adjusting the adaptive law of the parameters with system states.…”

Data‐driven iterative learning trajectory tracking control for wheeled mobile robot under constraint of velocity saturation

“…Researchers worldwide have used different methods to design various trajectory tracking controllers, such as sliding mode control [2][3][4][5], backstepping control [6], adaptive control [7][8][9], fuzzy control [10,11], and intelligent control [12][13][14][15][16][17]. In Ref.…”