Sliding mode controller design for trajectory tracking of a non-holonomic mobile robot with disturbance

Abstract This paper develops sliding mode controller for the trajectory tracking of a non-holonomic differentially driven wheeled mobile robot (DDWMR) with measurement noise, frictional disturbances and model uncertainties. The proposed controller is designed with the help of an existing Proportional-Integral (PI) sliding surface for trajectory tracking followed by a new Proportional-Integral-Derivative (PID) sliding surface for velocity tracking. The PI and PID sliding surfaces are based on the kinematic model and dynamic model of the robot, respectively. An adjustable gain switching controller is incorporated for minimizing the effect of disturbances and uncertainties. The closed loop stability of the system is proved using Lyapunov stability criteria. The proposed controller is validated with the help of numerical examples and real-time experiments on DDWMR.

[1]  Arun D. Mahindrakar,et al.  Robust Stabilization of a Class of Underactuated Mechanical Systems Using Time Scaling and Lyapunov Redesign , 2011, IEEE Transactions on Industrial Electronics.

[2]  H.M. Suryawanshi,et al.  Adaptive Pulse Synchronizing Control for High-Power-Factor Operation of Variable Speed DC-Drive , 2007, IEEE Transactions on Power Electronics.

[3]  Alireza Mohammad Shahri,et al.  Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach , 2012 .

[4]  Chun-Chieh Chang,et al.  Design and Development of Mamdani-Like Fuzzy Control Algorithm for a Wheeled Human-Conveyance Vehicle Control , 2012, IEEE Transactions on Industrial Electronics.

[5]  Shailaja Kurode,et al.  Second order sliding mode control for a class of underactuated systems , 2012, 2012 12th International Workshop on Variable Structure Systems.

[6]  Rong-Jong Wai,et al.  Design of Cascade Adaptive Fuzzy Sliding-Mode Control for Nonlinear Two-Axis Inverted-Pendulum Servomechanism , 2008, IEEE Transactions on Fuzzy Systems.

[7]  Barry W. Williams,et al.  Position control of a vector controlled induction machine using Slotine's sliding mode control approach , 1998 .

[8]  Ming Yue,et al.  Neural network based terminal sliding mode control for WMRs affected by an augmented ground friction with slippage effect , 2017, IEEE/CAA Journal of Automatica Sinica.

[9]  M. Melluso,et al.  Fuzzy adaptive EKF motion control for non-holonomic and underactuated cars with parametric and non-parametric uncertainties , 2007 .

[10]  A. Rahmati,et al.  Hierarchical sliding mode control of paralleling single-phase UPS inverters , 2012, 2012 3rd Power Electronics and Drive Systems Technology (PEDSTC).

[11]  Chih-Lyang Hwang,et al.  Adaptive Fuzzy Hierarchical Sliding-Mode Control for the Trajectory Tracking of Uncertain Underactuated Nonlinear Dynamic Systems , 2014, IEEE Transactions on Fuzzy Systems.

[12]  Weiguo Xia,et al.  Adaptive Fuzzy Hierarchical Sliding-Mode Control for a Class of MIMO Nonlinear Time-Delay Systems With Input Saturation , 2017, IEEE Transactions on Fuzzy Systems.

[13]  Arindam Ghosh,et al.  Multiband Hysteresis Modulation and Switching Characterization for Sliding-Mode-Controlled Cascaded Multilevel Inverter , 2010, IEEE Transactions on Industrial Electronics.

[14]  Chih-Lyang Hwang,et al.  Neural-network-based variable structure control of electrohydraulic servosystems subject to huge uncertainties without persistent excitation , 1999 .

[15]  Byung Kook Kim,et al.  Time-Optimal Trajectory Planning Based on Dynamics for Differential-Wheeled Mobile Robots With a Geometric Corridor , 2017, IEEE Transactions on Industrial Electronics.

[16]  C.-L. Hwang.  Sliding mode control using time-varying switching gain and boundary layer for electrohydraulic position and differential pressure control , 1996 .

[17]  M. Dambrine,et al.  Output feedback controller design of a unicycle-type mobile robot with delayed measurements [Brief Paper] , 2012 .

[18]  Chih-Min Lin,et al.  Decoupling control by hierarchical fuzzy sliding-mode controller , 2005, IEEE Trans. Control. Syst. Technol..

[19]  Okyay Kaynak,et al.  Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics , 2016, IEEE Transactions on Industrial Electronics.

[20]  Chih-Lyang Hwang,et al.  Trajectory tracking of a mobile robot with frictions and uncertainties using hierarchical sliding-mode under-actuated control , 2013 .

[21]  Roger F. Gans,et al.  Closed-Loop Control of an Underactuated Sheet Registration Device Using Feedback Linearization and Gain Scheduling , 2008, IEEE Transactions on Control Systems Technology.

[22]  Tong Heng Lee,et al.  Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot , 2014, IEEE Transactions on Industrial Electronics.

[23]  Branislava Perunicic-Drazenovic,et al.  Integral Sliding Manifold Design for Linear Systems With Additive Unmatched Disturbances , 2016, IEEE Transactions on Automatic Control.

[24]  Y. ORLOV,et al.  Finite Time Stability and Robust Control Synthesis of Uncertain Switched Systems , 2004, SIAM J. Control. Optim..