Abstract
In this paper, Higher-Order Super-Twisting control (HOST) is designed and implemented for trajectory tracking control of four wheels Skid-Steered Mobile Robot (SSMR). The conventional Super-Twisting (ST) Second-Order Sliding Mode Control (SOSMC) is robust, yet it has two main drawbacks for such a system, 1) the chattering phenomena persists on the system inputs and outputs which leads to vibration in the robot motors and 2) the SSMR system has a relative degree equal to two. Therefore, the ST control design requires a sliding variable containing error derivatives, which only permit asymptotic convergence. For that, a higher-order controller is required for this control structure, which is designed for second order sliding variable, in order to obtain a robust controller with finite-time convergence. The HOST control can reduce chattering in steady-state compared with conventional ST-SOSMC and converge the state variables in finite time. The performance of this controller has been validated experimentally on Pioneer P3AT SSMR robot. The experimental results show good performance under parametric uncertainty variations and external disturbance with neglected chattering.
Highlights
Autonomous mobile robots are used in several applications mainly where human intervention or guidance is not possible
Higher-Order Sliding Mode Control (HOSMC) was developed in order to design a controller for higher-order sliding variable by maintaining the same features of a classical SMC [22]–[24]
The control objective is achieved using a Higher-Order Sliding Mode based on Higher-Order Super-Twisting algorithm
Summary
Autonomous mobile robots are used in several applications mainly where human intervention or guidance is not possible. I. Matraji et al.: HOST for Trajectory Tracking Control of SSMR the good performance of the proposed controller in terms of precision and speed response, the fuzzy logic controller depends on the number of rules integrated into the control design. In [13], [14], a first order Sliding Mode Control (SMC) is applied for trajectory tracking control This controller has good performance and no steady state error. In case the system uncertainty bounds are known, robust controller gains can be maximized in order to improve the controller performance in terms of response time, which results in chattering For these reasons, Higher-Order Sliding Mode Control (HOSMC) was developed in order to design a controller for higher-order sliding variable by maintaining the same features of a classical SMC [22]–[24].
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