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Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates

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  • Robotics and Automation
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Abstract

In this paper, we propose a method for designing the sliding mode based tracking control of a mobile robot in Cartesian coordinates with an approach angle and an improved reaching law. In the proposed method, to solve the singular point problem, we consider the kinematics in Cartesian coordinates instead of the kinematics in polar coordinates. We consider the bounded disturbances of the dynamics. Next, we design a new sliding surface by using an approach angle to solve the sliding surface constraint problem. Also, we propose an improved reaching law which can reduce the chattering phenomenon and the reaching time. Then, we derive the new matrix to use the sliding mode control method to the kinematics and dynamics equations. Based on the proposed control law, we can derive the control input for the given arbitrary trajectories. We prove that the position tracking error asymptotically converges to zero by using the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through computer simulations.

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Authors and Affiliations

  1. Yonsei University, Seodaemungu, Seoul, 120-749, Korea

    Jun Ku Lee & Jin Bae Park

  2. Kyonggi University, Suwon-si, Kyonggi-do, Korea

    Yoon Ho Choi

Authors
  1. Jun Ku Lee
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  2. Yoon Ho Choi
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  3. Jin Bae Park
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Corresponding author

Correspondence to Jin Bae Park.

Additional information

Jun Ku Lee received his B.S. degree in Electrical and Electronic Engineering from Yonsei University in 2012, Seoul, Korea. His current research interests include nonlinear control, robust control, sliding mode control, switching law, mobile robot, and autonomous underwater vehicle.

Yoon Ho Choi received his B.S., M.S., and Ph.D. degrees in Electrical Engineering from Yonsei University, Seoul, Korea, in 1980, 1982, and 1991, respectively. Since 1993, he has been with Department of Electronic Engineering, Kyonggi University, Suwon, Korea, where he is currently a Professor. He was with Department of Electrical Engineering, The Ohio State University, where he was a Visiting Scholar (2000–2002, 2009–2010). His research interests include nonlinear control, intelligent control, multi-legged and mobile robots, networked control systems, and ADP based control. Prof. Choi was the Director (2003–2004, 2007–2008) of the Institute of Control, Robotics and Systems (ICROS). He is serving as the Vice-President for the ICROS (2012-present).

Jin Bae Park received his B.S. degree in Electrical Engineering from Yonsei University, Seoul, Korea, and his M.S. and Ph.D. degrees in Electrical Engineering from Kansas State University, Manhattan, KS, USA, in 1977, 1985, and 1990, respectively. Since 1992, he has been with the Department of Electrical and Electronic Engineering, Yonsei University, where he is currently a Professor. His major research interests include robust control and filtering, nonlinear control, intelligent mobile robot, fuzzy logic control, neural networks, chaos theory, and genetic algorithms. He served as the Editor-in-Chief (2006–2010) for the International Journal of Control, Automation, and Systems, the Vice-President (2009–2011) for Institute of Control, Robot, and Systems Engineers (ICROS), and the President for the ICROS (2013).

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Lee, J.K., Choi, Y.H. & Park, J.B. Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates. Int. J. Control Autom. Syst. 13, 718–724 (2015). https://doi.org/10.1007/s12555-014-0024-5

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  • DOI: https://doi.org/10.1007/s12555-014-0024-5

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