Abstract
This paper proposes an adaptive terminal sliding mode trajectory tracking control scheme for the wheel mobile robot in the presence of wheel skidding and slipping and unknown center of mass. An auxiliary kinematics controller is designed to make the auxiliary velocity of the robot asymptotically converge to the desired velocity, and a torque controller is designed to make the velocity of the robot converge to the desired velocity within a limited time. The disturbance observer is used to estimate the lumped disturbance. It is proved that all the signals in the closed-loop system are bounded and that the tracking error converges to zero. Simulation results demonstrate the effectiveness of the proposed scheme.
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Yan, J., Shi, W. (2019). Adaptive Terminal Sliding Mode Trajectory Tracking Control of Mobile Robot Based on Disturbance Observer. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 529. Springer, Singapore. https://doi.org/10.1007/978-981-13-2291-4_53
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DOI: https://doi.org/10.1007/978-981-13-2291-4_53
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