Discrete-time sliding-mode control of four driving-steering wheels autonomous vehicle

A discrete-time sliding-mode control for the trajectory tracking problem of four driving-steering wheels (4DW/SW) autonomous vehicle SEEKUR is presented in this paper. SEEKUR is a holonomic, all-weather, outdoor robot platform for outdoor security, inspection and research. SEEKUR's unique shape and omni-directional steering allow truly holonomic movement. A discrete-time nonholonomic model of SEEKUR is used for the design of the controller, instead of the usual continuous-time model, thus avoiding problems caused by the discretization of the continuous-time controller. The effectiveness of the proposed controller is proven by simulation results.

[1]  Weibing Gao,et al.  Variable structure control of nonlinear systems: a new approach , 1993, IEEE Trans. Ind. Electron..

[2]  Weibing Gao,et al.  Discrete-time variable structure control systems , 1995, IEEE Trans. Ind. Electron..

[3]  Henk Nijmeijer,et al.  Tracking Control of Mobile Robots: A Case Study in Backstepping , 1997, Autom..

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

[5]  Vadim I. Utkin,et al.  Sliding mode control in electromechanical systems , 1999 .

[6]  K. Furuta,et al.  Discrete-time Variable Structure Control , 2002 .

[7]  S. Janardhanan,et al.  Discrete-time Sliding Mode Control: A Multirate Output Feedback Approach , 2005 .

[8]  Bin Wang.  On discretization of sliding mode control systems , 2008 .

[9]  Razvan Solea,et al.  Sliding mode control applied in trajectory-tracking of WMRs and autonomous vehicles , 2009 .

[10]  Adrian Filipescu,et al.  Sliding-mode control for trajectory-tracking of a Wheeled Mobile Robot in presence of uncertainties , 2009, 2009 7th Asian Control Conference.

[11]  Grigore Stamatescu,et al.  Sliding-mode real-time mobile platform control in the presence of uncertainties , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[12]  Adrian Filipescu,et al.  Sliding-mode trajectory-tracking control for a four-wheel-steering vehicle , 2010, IEEE ICCA 2010.

[13]  Adrian Filipescu,et al.  Sliding-mode controller for four-wheel-steering vehicle: Trajectory-tracking problem , 2010, 2010 8th World Congress on Intelligent Control and Automation.

[14]  A. Filipescu,et al.  Lateral motion control of four-wheels steering vehicle using a sliding-mode controller , 2010, Proceedings of the 29th Chinese Control Conference.

[15]  Qijun Chen,et al.  Trajectory tracking control of a nonholonomic mobile robot , 2010, IEEE ICCA 2010.