Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence
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- 英文论文题名：Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence
- 论文作者：Li Xue ; Geng Zhiyong
- 英文论文作者：Li Xue ; Geng Zhiyong ; The State Key Laboratory for Turbulence and Complex Systems of Peking University Department of Mechanics and Engineering Science ; College of Engineering.Peking University
- 年：2017
- 作者机构：The State Key Laboratory for Turbulence and Complex Systems of Peking University Department of Mechanics and Engineering Science,College of Engineering.Peking University;
- 英文论文关键词：nonholonomic wheeled mobile robots ; sliding mode control ; adaptive control ; finite time convergence ; trajectory tracking
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP242
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：342k
- 原文格式：D
- 会议级别：全国
摘要
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process, a fast variable is obtained to compensate for the unknown disturbance. Based on the Lyapunov stability analysis, it can be showed the finite time convergence in both reaching and sliding phase is achieved, and all closedloop signals are uniformly ultimately bounded. Finally simulation results are provided to demonstrate the effectiveness of the proposed control scheme.
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process, a fast variable is obtained to compensate for the unknown disturbance. Based on the Lyapunov stability analysis, it can be showed the finite time convergence in both reaching and sliding phase is achieved, and all closedloop signals are uniformly ultimately bounded. Finally simulation results are provided to demonstrate the effectiveness of the proposed control scheme.
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process, a fast variable is obtained to compensate for the unknown disturbance. Based on the Lyapunov stability analysis, it can be showed the finite time convergence in both reaching and sliding phase is achieved, and all closedloop signals are uniformly ultimately bounded. Finally simulation results are provided to demonstrate the effectiveness of the proposed control scheme.
引文
[1]RW Brockett,Asymptotic stability and feedback stabilization,Differential Geometric Control Theory,1983:181–191.
[2]Z.P.Jiang and H.Nijmeijer,Tracking control of mobile robots:a case study in backstepping,Automatica,33(7):1393C-1399,1997.
[3]R.Fierro and F.L.Lewis,Control of a nonholonomic mobile robot:Backsteppins kinematics into dynamics,Journal of Robotic Systems,14(3):149C-163,1997.
[4]Ming Yue,Guoqiang Wu,Shuang Wang,and Cong An,Disturbance observer-based trajectory tracking control for nonholonomic wheeled mobile robot subjected to saturated velocity constraint,Applied Artificial Intelligence,28:751C765,2014.
[5]Weichao Sun,Member,Two time-Scale tracking control of nonholonomic wheeled mobile robots,IEEE Trans.on Control Systems Technology,24(6),2016.
[6]Tom N.Kigezi,Stancu Alexandru,Edgar Mugabi and Paul Isaac Musasizi,Sliding mode control for tracking of nonholonomic wheeled mobile robots,Australian Control Conference,2015.
[7]Xianghua Wang and Jinzhi Wang,Partial integrated missile guidance and control with finite time convergence,People’s Republic of China,Beijing,Peking University,36(5),2013.
[8]Ravi N.Banavar,Velupillai Sankaranarayanan,Switched finite time control of a class of underactuated systems,Germany,Springer Berlin Heidelberg,2006.
[9]Yu-Qiang Wu,Cheng-Long Zhu and Zhong-Cai Zhang,Finitetime stabilization of a general class of nonholonomic dynamic systems via terminal sliding mode,International Journal of Automation and Computing,13(6):585–595,2016.
[10]D.Chwa,Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates,IEEE Trans.Control Systems Technology,12(4):637-644,2004.
[11]F.L.Lewis,C.T.Abdallah,and D.M.Dawson,Control of Robot Manipulators.New York:Macmillan,1993.
[12]Y.Kanayama,Y.Kimura,M.F.and T.Noguchi,A stable tracking control method for an autonomous mobile robot,IEEE International Conference on Robotics and Automation,Cincinnati,OH,1990.
[13]Wei,X.J,and Lei,G,Composite disturbance-observerbased control and terminal sliding mode control for non-linear systems with disturbances,International Journal of Control,82(6):1082-1098,2009.
[2]Z.P.Jiang and H.Nijmeijer,Tracking control of mobile robots:a case study in backstepping,Automatica,33(7):1393C-1399,1997.
[3]R.Fierro and F.L.Lewis,Control of a nonholonomic mobile robot:Backsteppins kinematics into dynamics,Journal of Robotic Systems,14(3):149C-163,1997.
[4]Ming Yue,Guoqiang Wu,Shuang Wang,and Cong An,Disturbance observer-based trajectory tracking control for nonholonomic wheeled mobile robot subjected to saturated velocity constraint,Applied Artificial Intelligence,28:751C765,2014.
[5]Weichao Sun,Member,Two time-Scale tracking control of nonholonomic wheeled mobile robots,IEEE Trans.on Control Systems Technology,24(6),2016.
[6]Tom N.Kigezi,Stancu Alexandru,Edgar Mugabi and Paul Isaac Musasizi,Sliding mode control for tracking of nonholonomic wheeled mobile robots,Australian Control Conference,2015.
[7]Xianghua Wang and Jinzhi Wang,Partial integrated missile guidance and control with finite time convergence,People’s Republic of China,Beijing,Peking University,36(5),2013.
[8]Ravi N.Banavar,Velupillai Sankaranarayanan,Switched finite time control of a class of underactuated systems,Germany,Springer Berlin Heidelberg,2006.
[9]Yu-Qiang Wu,Cheng-Long Zhu and Zhong-Cai Zhang,Finitetime stabilization of a general class of nonholonomic dynamic systems via terminal sliding mode,International Journal of Automation and Computing,13(6):585–595,2016.
[10]D.Chwa,Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates,IEEE Trans.Control Systems Technology,12(4):637-644,2004.
[11]F.L.Lewis,C.T.Abdallah,and D.M.Dawson,Control of Robot Manipulators.New York:Macmillan,1993.
[12]Y.Kanayama,Y.Kimura,M.F.and T.Noguchi,A stable tracking control method for an autonomous mobile robot,IEEE International Conference on Robotics and Automation,Cincinnati,OH,1990.
[13]Wei,X.J,and Lei,G,Composite disturbance-observerbased control and terminal sliding mode control for non-linear systems with disturbances,International Journal of Control,82(6):1082-1098,2009.