Tracking control of omnidirectional mobile platform with disturbance using differential sliding mode controller

Abstract

In this paper, a differential sliding mode tracking controller (DSMC) using voltage input is designed for trajectory tracking of the three-wheeled omnidirectional mobile platform (OMP) based on its dynamic modeling with disturbances. First, a tracking error vector is defined, and then a differential sliding surface vector is chosen. A control law is obtained by using Lyapunov direct method with backstepping technique. The control law stabilizes the sliding surface vector and makes the tracking error vector go to zero asymptotically. To implement the designed controllers, a control system is developed based on PIC microcontroller. A camera sensor and encoders are used. The simulation and experiment results are presented to illustrate effectiveness of the proposed controller.

Design and Implementation of Welding Mobile Robot Using a Proposed Control Scheme Based On Its Developed Dynamic Modeling for Tracking Desired Welding Trajectory

“…2 shows the 2D configuration for geometric model of the WMR. For simplifying the modeling of WMR, the assumptions are given as follows [10][11][12][13][14]:…”

“…Over the past few decades, the sliding mode control (SMC) technique for nonlinear mechanical systems has been studied extensively by many researchers [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15]. The main idea of using the SMC approach is to cope with the parametric uncertainties and external disturbances under matching conditions for the complex nonlinear systems exist in practical applications such as robotics manipulator, welding mobile robot,... [1,2].…”

“…Recently, many robust control algorithms using SMC [8][9][10][11][12][13][14][15] or combined with fuzzy logic [7], neural network [4,6], adaptive [3][4] have been proposed to deal with the trajectory tracking problem including system dynamics [3][4][5][6][7][8][9][10][11][12][13][14][15]. Most of them, they used a control scheme of integrating a kinematic modeling into a dynamic modeling [4][5][6][7][9][10][11][12][13][14] or used only kinematic controller [8]. However, the linear velocity of mobile robot [9][10][11][12] or welding point of welding mobile robot was not keep constant velocity smoothly as desired [13][14].…”

“…Most of them, they used a control scheme of integrating a kinematic modeling into a dynamic modeling [4][5][6][7][9][10][11][12][13][14] or used only kinematic controller [8]. However, the linear velocity of mobile robot [9][10][11][12] or welding point of welding mobile robot was not keep constant velocity smoothly as desired [13][14]. Hung, et al [15] proposes a new tracking controller that combines a kinematic controller and an integral sliding mode dynamic controller for an omnidirectional mobile platform to track a desired trajectory at a desired velocity of an OMP under disturbance and surface friction.…”

MAC Controller for Path Tracking of a Wheeled Mobile Robot in the Presence of Skidding Effects

“…Lim, et al, [14] presented a nonlinear model predictive tracking control scheme for a wheeled nonholonomic unmanned ground vehicle. Dinh, et al, [15] presented a differential sliding mode tracking controller for trajectory tracking of the three-wheeled mobile platform. Chen et al, [16] proposed a complete control law comprising a kinematic control and a sliding-mode dynamic control for the trajectory tracking control of nonholonomic WMRs.…”