Abstract
In this paper, a robust adaptive output feedback control strategy based on a sliding mode super-twisting algorithm is designed for the trajectory tracking control of a wheeled mobile robot. First, a robust adaptive law is designed to eliminate the influence of parameter uncertainties. Second, a double-power sliding mode surface is designed to improve the response speed of the robot system. Finally, a high-gain observer is employed to estimate the speed information. The stability of the closed-loop system is proved using the Lyapunov stability theorem. The effectiveness of the proposed control strategy is verified by simulation.
Highlights
As a kind of practical operating tools, mobile robots have far-reaching application prospects in various industries
Mobile robots are highly nonlinear, continuous timevarying, strongly coupled dynamic systems. erefore, it is an extremely challenging task to realize that mobile robots can overcome different external disturbances and track a predetermined trajectory in dissimilar environments. e parameters of their motion control system must be adjusted with the changes of the tracking path and the surrounding environment at all times to meet the requirements of precise control
Through the unremitting efforts of researchers, the robust adaptive control method [1,2,3], sliding mode control method [4,5,6,7], and intelligent control method [8,9,10] have been used in the nonlinear control of mobile robots. ese methods have their own advantages and disadvantages
Summary
As a kind of practical operating tools, mobile robots have far-reaching application prospects in various industries. The traditional PID control has the characteristics of a simple principle, few parameters, and easiness of use, it has been extensively used in industrial process control. It is a linear combination of the three items of error proportional, integral, and derivative action, and it does not possess the function of adjusting gain parameters online. Erefore, traditional PID control is very limited to the tracking control of the complex nonlinear system signals such as mobile robots. With in-depth research of mobile robots by researchers, sliding mode control (SMC) technology has become a mature trajectory tracking control method for mobile robots. The main problem with this sliding mode method is the inevitable chattering phenomenon, which may harm the actuator
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