Adaptive Backstepping Sliding Mode Control of Tractor-trailer System with Input Delay Based on RBF Neural Network

In this paper, an adaptive sliding mode neural network(NN) control method is investigated for input delay tractor-trailer system with two degrees of freedom. An uncertain camera-object kinematic tracking error model of a tractor car with n trailers with input delay is proposed. Radial basis function neural networks(RBFNNs) are applied to approximate the unknown functions in the error model. A sliding mode surface with variable structure control is designed by using backstepping method. Then, an adaptive NN sliding mode control method is thus obtained by combining Lyapunov-Krasovskii functionals. The controller realizes the global asymptotic trajectories tracking of the kinematics system. The stability of the closed-loop system is strictly proved by the Lyapunov theory. Matlab simulation results demonstrate the feasibility of the proposed method.

[1]  Zhong-Ping Jiang,et al.  A recursive technique for tracking control of nonholonomic systems in chained form , 1999, IEEE Trans. Autom. Control..

[2]  Bin Zhou,et al.  Input delay compensation of linear systems with both state and input delays by nested prediction , 2014, Autom..

[3]  Jean-Paul Laumond,et al.  Controllability of a multibody mobile robot , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[4]  Israel Elias,et al.  Structure Regulator for the Perturbations Attenuation in a Quadrotor , 2019, IEEE Access.

[5]  Hongyan Wang,et al.  Adaptive sliding mode control with nonlinear disturbance observer for uncertain nonlinear system based on backstepping method , 2012, WCICA 2012.

[6]  Jinkun Liu,et al.  An adaptive RBF neural network control method for a class of nonlinear systems , 2018, IEEE/CAA Journal of Automatica Sinica.

[7]  Frank L. Lewis,et al.  Adaptive Asymptotic Neural Network Control of Nonlinear Systems With Unknown Actuator Quantization , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[8]  Shaocheng Tong,et al.  Observer-based fuzzy adaptive robust control of nonlinear systems with time delays and unmodeled dynamics , 2010, Neurocomputing.

[9]  Zhang Jin-peng.  Study on Chattering of Variable Structure Control , 2013 .

[10]  Ole Jakob Sørdalen,et al.  Conversion of the kinematics of a car with n trailers into a chained form , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[11]  Shuzhi Sam Ge,et al.  An Adaptive Backstepping Nonsingular Fast Terminal Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[12]  Bing Chen,et al.  Adaptive fuzzy tracking control of nonlinear time-delay systems with unknown virtual control coefficients , 2008, Inf. Sci..

[13]  Mrdjan Jankovic,et al.  Control Lyapunov-Razumikhin functions and robust stabilization of time delay systems , 2001, IEEE Trans. Autom. Control..

[14]  Bin Zhou,et al.  Pseudo-predictor feedback stabilization of linear systems with time-varying input delays , 2014, Proceedings of the 33rd Chinese Control Conference.

[15]  Jitendra Kumar,et al.  Design of robust fractional order fuzzy sliding mode PID controller for two link robotic manipulator system , 2018, J. Intell. Fuzzy Syst..

[16]  Qingsong Liu,et al.  Stabilization of linear systems with both input and state delays by observer-predictors , 2017, Autom..

[17]  Zhang Tian-ping,et al.  Adaptive control of nonlinear systems with unmodeled dynamics and time-varying state delays , 2013, Proceedings of the 32nd Chinese Control Conference.

[18]  Warren E. Dixon,et al.  Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system , 2001, IEEE Trans. Syst. Man Cybern. Part B.

[19]  José de Jesús Rubio,et al.  Robust feedback linearization for nonlinear processes control. , 2018, ISA transactions.

[20]  José de Jesús Rubio,et al.  An Electricity Generator Based on the Interaction of Static and Dynamic Magnets , 2019, IEEE Transactions on Magnetics.

[21]  Dao Phuong Nam,et al.  An Adaptive Backstepping Trajectory Tracking Control of a Tractor Trailer Wheeled Mobile Robot , 2019, International Journal of Control, Automation and Systems.

[22]  Lie Guo,et al.  Quintic Polynomial-based Obstacle Avoidance Trajectory Planning and Tracking Control Framework for Tractor-trailer System , 2019, International Journal of Control, Automation and Systems.

[23]  Shaoming He,et al.  Robust backstepping control for a class of nonlinear systems using generalized disturbance observer , 2016 .

[24]  Okyay Kaynak,et al.  Robust and adaptive backstepping control for nonlinear systems using RBF neural networks , 2004, IEEE Transactions on Neural Networks.

[25]  Qingling Zhang,et al.  Sliding-Mode Control for Singular Markovian Jump Systems With Brownian Motion Based on Stochastic Sliding Mode Surface , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.