Abstract
ABSTRACTTo solve the tracking problem of mobile robot, a hybrid control algorithm based on back-stepping control and non-singular fast terminal sliding mode control is proposed in this paper. The algorithm not only ensures the pose tracking of the robot but also realizes the finite time tracking of the optimal speed by designing the non-singular terminal sliding mode surface. The controller solves the singularity problem in the general terminal sliding mode control. And the advantage of the controller over the general sliding mode controller is that the control input is continuously and approaching to zero. On this basis, we used an RBF neural network to estimate the uncertainties of the system, the stability of the system is proved by Lyapunov stability theory and Barbalat theorem. Finally, the simulation results show that the controller is correct and effective.
Highlights
In recent years, the control problem of non-holonomic systems has been a hot topic of research (Kolmanovsky & McClamroch, 1995)
The general solution is to use the adaptive control, variable structure control, dynamic feedback control and other control methods combined with back-stepping technique and Lyapunov stability theory to study the trajectory tracking problem of non-holonomic mobile robots with unknown parameters
The hybrid algorithm based on backstepping control and non-singular fast terminal sliding mode control is used to study the tracking problem of mobile robots, and the uncertainties of the system are estimated by RBF neural network
Summary
The control problem of non-holonomic systems has been a hot topic of research (Kolmanovsky & McClamroch, 1995). The general solution is to use the adaptive control, variable structure control, dynamic feedback control and other control methods combined with back-stepping technique and Lyapunov stability theory to study the trajectory tracking problem of non-holonomic mobile robots with unknown parameters. An adaptive fast terminal sliding mode controller is designed to converge the attitude angle error to an arbitrarily small neighbourhood within a finite time, and it designs a line speed controller to ensure the convergence of the position tracking errors It uses the potential linear structure of the chain system, combined with the terminal sliding mode method to design the discontinuous control law, and realizes the finite time stabilization of the wheeled mobile robot system (Zhu, Dong, & Hu, 2006). The hybrid algorithm based on backstepping control and non-singular fast terminal sliding mode control is used to study the tracking problem of mobile robots, and the uncertainties of the system are estimated by RBF neural network.
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