Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems
A continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR) is presented in this paper. The proposed approach is composed of conventional sliding-mode control (SMC) in the internal loop and modified switched second-order sliding-mo...
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Online Access: | http://dx.doi.org/10.1155/2018/1430989 |
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doaj-0062f8ef50f24608845d6be27ffcaab72020-11-25T00:57:26ZengHindawi-WileyComplexity1076-27871099-05262018-01-01201810.1155/2018/14309891430989Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot SystemsHao Ce0Wang Hongbin1Cheng Xiaoyan2Zhou Zhen3Ge Shungang4Hu Zhongquan5Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaA continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR) is presented in this paper. The proposed approach is composed of conventional sliding-mode control (SMC) in the internal loop and modified switched second-order sliding-mode (S-SOSM) control in the external loop. Sliding-mode controller is equivalently represented as stabilization of the nominal system without uncertainties. An S-SOSM control algorithm is employed to counteract the impact of state-dependent unmodeled dynamics and time-varying external disturbances, and the unexpected chattering has been attenuated significantly. Particularly, state-space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements. Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach.http://dx.doi.org/10.1155/2018/1430989 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hao Ce Wang Hongbin Cheng Xiaoyan Zhou Zhen Ge Shungang Hu Zhongquan |
spellingShingle |
Hao Ce Wang Hongbin Cheng Xiaoyan Zhou Zhen Ge Shungang Hu Zhongquan Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems Complexity |
author_facet |
Hao Ce Wang Hongbin Cheng Xiaoyan Zhou Zhen Ge Shungang Hu Zhongquan |
author_sort |
Hao Ce |
title |
Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems |
title_short |
Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems |
title_full |
Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems |
title_fullStr |
Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems |
title_full_unstemmed |
Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems |
title_sort |
finite-time switched second-order sliding-mode control of nonholonomic wheeled mobile robot systems |
publisher |
Hindawi-Wiley |
series |
Complexity |
issn |
1076-2787 1099-0526 |
publishDate |
2018-01-01 |
description |
A continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR) is presented in this paper. The proposed approach is composed of conventional sliding-mode control (SMC) in the internal loop and modified switched second-order sliding-mode (S-SOSM) control in the external loop. Sliding-mode controller is equivalently represented as stabilization of the nominal system without uncertainties. An S-SOSM control algorithm is employed to counteract the impact of state-dependent unmodeled dynamics and time-varying external disturbances, and the unexpected chattering has been attenuated significantly. Particularly, state-space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements. Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach. |
url |
http://dx.doi.org/10.1155/2018/1430989 |
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