Super-Twisting Sliding Modes Tracking Control of a Nonholonomic Wheeled Mobile Robot

Elyoussef, Ebrahim Samer; Pieri, Edson Roberto De; Moreno, Ubirajara F.; Jungers, Marc

doi:10.3182/20120905-3-hr-2030.00124

Cited by 13 publications

(4 citation statements)

References 7 publications

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“…In the literature [6], a mobile robot tracking control algorithm based on sliding film control was proposed to establish a kinematic model in a right-angle coordinate system, solve the singularity problem, reduce the jitter phenomenon and convergence time by an improved convergence law, and the control input for any given trajectory can be derived using the sliding film control method, and the effectiveness of the control was verified by computer simulation. In the literature [7], a secondorder sliding film-based control strategy is proposed for many problems of the trajectory tracking control problem of incomplete wheeled robots, which has a good performance by using proportional plus differential control cascade execution. The literature [8] argues that the traditional AGV cart control is based on classical PID control, but the accuracy of PID control depends on the accuracy of the mathematical model of the system and the parameter setting condition, which cannot be planned efficiently for the control.…”

Section: Introductionmentioning

confidence: 99%

Research on AGV cart control system based on fuzzy PID control

Chen,

Cheng

et al. 2023

Applied Mathematics and Nonlinear Sciences

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As an important carrier of intelligent logistics, AGV can effectively reduce the labor cost of factories and warehouses. With the comprehensive promotion of “smart manufacturing”, the manufacturing industry has a stronger demand for automated AGV logistics systems. This paper firstly analyzes the principle of fuzzy PID controller and establishes its kinematic model to obtain the intrinsic relationship between the motion form and the speed of each driving wheel. Secondly, through the data measured and fed back by the fuzzy PID control system, the AGV driving angle deviation and position deviation are used as the input of the fuzzy controller; its fuzzy deviation correction technology is applied to realize the path correction of the AGV and ensure the stable operation of the AGV through the cooperative motion control technology. Finally, MATLAB software establishes the joint simulation model of the AGV fuzzy PID control system. The results show that through the two algorithms of PID control and fuzzy PID control correction test, the fuzzy PID controller system corrects the deflection efficiency by 47.41%; in the kinematic test, the path tracking efficiency is increased by 30.76%, the distance correction efficiency is increased by 69.56%, the angle correction efficiency is increased by 69.56%, and the average performance is increased by 53.44%. Through the two comparisons, it is concluded that the fuzzy controller designed in this paper has the advantages of fast response speed, good stability, and strong deflection correction performance, which substantially improves the speed and accuracy of intelligent search of intelligent vehicles.

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Section: Introductionmentioning

confidence: 99%

Research on AGV cart control system based on fuzzy PID control

Chen,

Cheng

et al. 2023

Applied Mathematics and Nonlinear Sciences

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“…This algorithm is a popular second-order sliding mode (SOSM) scheme developed by Levant to avoid the chattering phenomenon (Levant, 1993). Super-twisting SMC is selected because it has a simpler control algorithm in comparison with the other forms of SOSM, presents continuous control laws, and does not need measurement of the time derivatives of the manifold (Elyoussef et al., 2012; Nagesh and Edwards, 2014). Compared with former studies, no research has explored the adaptive GSMC design based on super-twisting approach for the stabilization of underactuated systems with external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Adaptive global sliding mode control of underactuated systems using a super-twisting scheme: an experimental study

Mobayen

2019

Journal of Vibration and Control

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The control problem of underactuated systems with external perturbations is investigating in this paper. Using the super-twisting-based global sliding mode control (GSMC) method, an original control law is proposed to guarantee removal of the reaching mode and obtain the robustness and exponential stability of the underactuated systems. Via the offered scheme, a robust control law is designed so that the state trajectories of the underactuated systems are convergent to the global sliding surface in an exponential manner. Moreover, this article develops an adaptive super-twisting algorithm for these systems. The adaptive-tuning controller eliminates the need of the knowledge about upper bound of the exterior disturbance. The discontinuous sign function appears in the controller derivative; as a result, the actual control signal reached after integration is continuous and free of chattering. Demonstrative simulations on a cart–inverted pendulum system as well as an experimental study are presented to show the effectiveness and applicability of the proposed technique.

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“…The scheme is the same of the conventional SMC, see Figure 6.4, but the key about the HOSM is the switching function [183]. Equations (6-1) to (6-4) present the generic formulation of a plant to be controlled with the Supertwisting Sliding Mode controller.…”

Section: High-order Sliding Mode Controllermentioning

confidence: 99%

Development, Construction, Analysis and Control of Upper Limb Orthosis Using Bio-Signals

BARBOSA¹

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Super-Twisting Sliding Modes Tracking Control of a Nonholonomic Wheeled Mobile Robot

Cited by 13 publications

References 7 publications

Research on AGV cart control system based on fuzzy PID control

Research on AGV cart control system based on fuzzy PID control

Adaptive global sliding mode control of underactuated systems using a super-twisting scheme: an experimental study

Development, Construction, Analysis and Control of Upper Limb Orthosis Using Bio-Signals

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