Double closed-loop integral sliding mode control of wheeled mobile robots with disturbances

In this paper, the trajectory tracking problem is considered for a non-holonomic wheeled mobile robot (WMR) with non-random and random disturbances. A disturbance observer with Kalman filter (DKF) is designed to observe the velocity and the non-random disturbance of the system. An integral sliding mode controller is presented for asymptotically stabilizing the WMR to a desired trajectory. It is shown that the proposed scheme is robust to system perturbations and measurement noise. Simulation results confirm the validity of accurate tracking capability and the robust performance of the proposed scheme.

[1]  Hao Sun,et al.  A novel adaptive robust control approach for underactuated mobile robot , 2018, 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM).

[2]  Junyong Zhai,et al.  Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots , 2016, Neurocomputing.

[3]  Harish Parthasarathy,et al.  Disturbance estimator as a state observer with extended Kalman filter for robotic manipulator , 2016 .

[4]  Leonardo R. L. Teixeira,et al.  Smooth indirect adaptive sliding mode control , 2015 .

[5]  Xuebo Yang,et al.  Extended State Observer-Based Sliding Mode Control of an Omnidirectional Mobile Robot With Friction Compensation , 2019, IEEE Transactions on Industrial Electronics.

[6]  Yuanqing Xia,et al.  Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints , 2018 .

[7]  J. Gauthier,et al.  High gain estimation for nonlinear systems , 1992 .

[8]  Yuanqing Xia,et al.  Attitude control for quadrotors subjected to wind disturbances via active disturbance rejection control and integral sliding mode control , 2019, Mechanical Systems and Signal Processing.

[9]  Khalil Alipour,et al.  Dynamics modeling and sliding mode control of tractor-trailer wheeled mobile robots subject to wheels slip , 2019, Mechanism and Machine Theory.

[10]  Heidar Ali Talebi,et al.  A robust active control scheme for automotive engine vibration based on disturbance observer. , 2019, ISA transactions.

[11]  Alon Kuperman,et al.  Guidelines to Classical Frequency-Domain Disturbance Observer Redesign for Enhanced Rejection of Periodic Uncertainties and Disturbances , 2019, IEEE Transactions on Power Electronics.

[12]  Yuan Li,et al.  Robust adaptive tracking control of wheeled mobile robot , 2016, Robotics Auton. Syst..

[13]  Di Wu,et al.  Finite-time output feedback tracking control for a nonholonomic wheeled mobile robot , 2018, Aerospace Science and Technology.

[14]  Mahdi Tavakoli,et al.  Nonlinear Disturbance Observer Design For Robotic Manipulators , 2013 .

[15]  Dongkyoung Chwa,et al.  Robust Nonlinear Disturbance Observer Based Adaptive Guidance Law Against Uncertainties in Missile Dynamics and Target Maneuver , 2018, IEEE Transactions on Aerospace and Electronic Systems.

[16]  Yuanqing Xia,et al.  Disturbance Rejection MPC for Tracking of Wheeled Mobile Robot , 2017, IEEE/ASME Transactions on Mechatronics.

[17]  Hadi Razmi,et al.  Neural network-based adaptive sliding mode control design for position and attitude control of a quadrotor UAV , 2019, Aerospace Science and Technology.

[18]  Moussa Labbadi,et al.  Robust adaptive backstepping fast terminal sliding mode controller for uncertain quadrotor UAV , 2019, Aerospace Science and Technology.

[19]  Joydeep Ghosh,et al.  A mixture-of-experts framework for adaptive Kalman filtering , 1997, IEEE Trans. Syst. Man Cybern. Part B.

[20]  Peter J. Gawthrop,et al.  A nonlinear disturbance observer for robotic manipulators , 2000, IEEE Trans. Ind. Electron..

[21]  Mark A. Minor,et al.  Fast and Reliable Motion Model for Articulated Wheeled Mobile Robots on Extremely Rough and Rocky Terrains , 2019, IEEE Robotics and Automation Letters.

[22]  Jingqi Yuan,et al.  Generalized Discrete-time nonlinear disturbance observer based fuzzy model predictive control for boiler-turbine systems. , 2019, ISA transactions.

[23]  Yu Qiu,et al.  Visual Servo Tracking of Wheeled Mobile Robots With Unknown Extrinsic Parameters , 2019, IEEE Transactions on Industrial Electronics.

[24]  Yuanqing Xia,et al.  Robust tracking control for wheeled mobile robot based on extended state observer , 2016, Adv. Robotics.

[25]  Cheng Lu,et al.  Adaptive Sliding Mode Control of Dynamic Systems Using Double Loop Recurrent Neural Network Structure , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[26]  Dongkyoung Chwa,et al.  Fuzzy Adaptive Tracking Control of Wheeled Mobile Robots With State-Dependent Kinematic and Dynamic Disturbances , 2012, IEEE Transactions on Fuzzy Systems.