2021
DOI: 10.1049/cth2.12122
|View full text |Cite
|
Sign up to set email alerts
|

The sliding mode control approach design for nonholonomic mobile robots based on non‐negative piecewise predefined‐time control law

Abstract: In this paper, a novel trajectory tracking control method of nonholonomic mobile robots based on the non-negative piecewise predefined-time theorem is proposed. The idea of cascade control is used to divide the posture error system of the mobile robot into two subsystems. Firstly, for the first-order subsystem, an active predefined-time controller is designed to realize that the angle error system converges and stabilizes to zero within a given time, which is preset in advance. Secondly, a novel predefined-tim… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2
2
1

Citation Types

0
8
0

Year Published

2022
2022
2024
2024

Publication Types

Select...
6
1

Relationship

0
7

Authors

Journals

citations
Cited by 11 publications
(8 citation statements)
references
References 33 publications
0
8
0
Order By: Relevance
“…Remark For the practical mobile robots, the Assumption 2 is reasonable and common due to the saturation limits on the output torques of DC motors [47, 48]. Note that during the controller design, the parameters si,i=1,2,3$s_i, i=1,2,3$, are only used for the stability analysis and are not adopted in the control law.…”
Section: Problem Statements and Preliminariesmentioning
confidence: 99%
See 2 more Smart Citations
“…Remark For the practical mobile robots, the Assumption 2 is reasonable and common due to the saturation limits on the output torques of DC motors [47, 48]. Note that during the controller design, the parameters si,i=1,2,3$s_i, i=1,2,3$, are only used for the stability analysis and are not adopted in the control law.…”
Section: Problem Statements and Preliminariesmentioning
confidence: 99%
“…If Assumption 1 and 2 are satisfied, with the command filter (46a)-(46c), the proposed velocity observer (20), (24), (25), virtual control law (44), error compensator (47), anti-saturation module (58) and control law for T (61a)-(61c), the leader-follower formation error will converge into the sufficiently small neighborhood of the origin as…”
Section: Theorem 2 Consider the Dynamics Of Omrs (3a)-(3b) With The I...mentioning
confidence: 99%
See 1 more Smart Citation
“…A common approach includes employing two control loop structures, such as an external kinematic loop using the Lyapunov function to synthesize the position and speed controller [6]. Furthermore, various dynamic loop control techniques like proportional integral derivative (PID) control [7], slip control [8]- [10], and backstepping command [11] have been applied. However, these control strategies effectively handle self-propelled robots in ideal working conditions without external disturbances.…”
Section: Introductionmentioning
confidence: 99%
“…A novel trajectory tracking control method has also been proposed for nonholonomic mobile robots based on the non-negative piecewise predefined-time theorem. The target method rapidly converts the error to zero in a certain period 13 . A new integral high-order sliding mode (IHOSM) surface is also introduced to achieve a rapid and accurate trajectory tracking 14 .…”
Section: Introductionmentioning
confidence: 99%