Wheeled Mobile Robot Trajectory Tracking using Sliding Mode Control

Abstract

This paper introduces and discusses a control strategy for nonholonomic wheeled mobile robots. The models of the robots include the kinematic and dynamic equations of motion. Trajectory tracking control problem of parallel wheeled differential drive mobile robot is considered, where the robot should reach the final position by following a referenced trajectory for different initial conditions. A motion control strategy for a mobile robot by only assuming the kinematic model was developed by many researchers. In the case of high-speed robot motion, the dynamical model is important. In this study, two stages of the proposed control strategy are presented. The first one is dealing with the kinematics of the system and denoted as 'steering' controller. The second one, a velocity controller is developed based on the robust sliding mode control technique. A new design of the sliding surface is proposed. The switching feedback gain is determined based on a novel mathematical simple rule, considering the initial state of the system. Robustness to parameters uncertainties and stability of the controlled system are achieved. A simulation model of the controlled system is developed in MATLAB-SIMULINK software. Simulation results show the performances of the developed controller. In the case of presence of uncertainties, the results show the superiority of the proposed controller compared with the computed torque method.

Fuzzy Synergetic Control for Dynamic Car-Like Mobile Robot

“…The tracking of the linear and steering velocities with the best gains are depicted in Figs. (8) and (9). The controller is tuned to have the fastest response.…”

“…Moreover, an exponential reaching law is presented in a dynamic model to eliminate the uncertainties. Ibrahim [8] proposed a robust sliding mode controller for trajectory tracking for the non-holonomic robot. In his study, two stages of the proposed control strategy are presented.…”

Nghiên cứu và thử nghiệm robot di động bám quỹ đạo dùng giải thuật Pure Pursuit thích nghi

“…Ở tài liệu (A. E. S. B. Ibrahim, 2016) đã sử dụng bộ điều khiển trượt dựa trên việc chọn độ lợi hồi tiếp SMC cho từng điều kiện đầu vào khác nhau. Ở nghiên cứu (M. R. H. Al-Dahhan & M. M. Ali, 2016) đã sử dụng bộ điều khiển Fuzzy logic để điều khiển robot bám quỹ đạo.…”

Dynamic modeling of the extended mobile robot: Composed N parallel axles, suspension system, and wheels slippage

“…This subject has been investigated by a number of researchers in di erent frameworks, among which the longitudinal and lateral slip for two wheels, four wheels [18,19], six wheels [20], and eight wheels [21] can be mentioned. To this end, a mobile robot with non-holonomic constraints [22,23] and several actuating axles is utilized. In this case, in addition to the e ect of slip [24] and damping owing to the existence of height di erence and surfaces through which the robot passes, a spring-damper system is used to prevent surface shocks [25].…”