Abstract
This paper presents a novel implementation of an adaptive robust second-order sliding mode control (ARSSMC) on a mobile robot with four Mecanum wheels. Each wheel of the mobile robot is actuated by separate motors. It is the first time that higher-order sliding mode control method is implemented for the trajectory tracking control of Mecanum-wheeled mobile robot. Kinematic and dynamic modeling of the robot is done to derive an equation of motion in the presence of friction, external force disturbance, and uncertainties. In order to make the system robust, second-order sliding mode control law is derived. Further, adaptive laws are defined for adaptive estimation of switching gains. To check the tracking performance of the proposed controller, simulations are performed and comparisons of the obtained results are made with adaptive robust sliding mode control (ARSMC) and PID controller. In addition, a new and low-cost experimental approach is proposed to implement the proposed control law on a real robot. Experimental results prove that without compromising on the dynamics of the robot real-time implementation is possible in less computational time. The simulation and experimental results obtained confirms the superiority of ARSSMC over ARSMC and PID controller in terms of integral square error (ISE), integral absolute error (IAE), and integral time-weighted absolute error (ITAE), control energy and total variance (TV).
Similar content being viewed by others
References
Pin, F.G., Killough, S.M.: A new family of omnidirectional and holonomic wheeled platforms for mobile robots. IEEE Trans. Robot. Autom. 10(4), 480–489 (1994)
Tzafestas, S.G.: Introduction to Mobile Robot Control. Elsevier, Waltham (2014)
Muir, P.F., Neuman, C.P.: Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot. In: Cox, I.J., Wilfong, G.T. (eds.) Autonomous Robot Vehicles, pp. 25–31. Springer, New York (1990)
Conceicao, A.S., Moreira, A.P., Costa, P.J.: Practical approach of modeling and parameters estimation for omnidirectional mobile robots. IEEE/ASME Trans. Mechatron. 14(3), 377–381 (2009)
Tlale, N., De Villiers, M.: Kinematics and dynamics modelling of a mecanum wheeled mobile platform. In: 15th International Conference on Mechatronics and Machine Vision in Practice. pp. 657-662. IEEE (2008)
De Villiers, M., Tlale, N.S.: Development of a control model for a four wheel mecanum vehicle. J. Dyn. Syst. Meas. Control. 134(1), 011007 (2012)
Yang, J.M., Kim, J.H.: Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots. IEEE Trans. Robot. Autom. 15(3), 578–587 (1999)
Viet, T.D., Doan, P.T., Hung, N., Kim, H.K., Kim, S.B.: Tracking control of a three-wheeled omnidirectional mobile manipulator system with disturbance and friction. J. Mech. Sci. Technol. 26(7), 2197–2211 (2012)
Fierro, R., Lewis, F.L.: Control of a nonholonomic mobile robot using neural networks. IEEE Trans. Neural Netw. 9(4), 589–600 (1998)
Purwin, O., D Andrea, R.: Trajectory generation and control for four wheeled omnidirectional vehicles. Robot. Auton. Syst. 54(1), 13–22 (2006)
Xu, D., Zhao, D., Yi, J., Tan, X.: Trajectory tracking control of omnidirectional wheeled mobile manipulators: robust neural network-based sliding mode approach. IEEE Trans. Syst. Man Cybern. Part B (Cybern). 39(3), 788–799 (2009)
Ryu, J.C., Agrawal, S.K.: Differential flatness-based robust control of mobile robots in the presence of slip. Int. J. Robot. Res. 30(4), 463–475 (2011)
Utkin, V.I.: Sliding Modes in Control and Optimization. Springer Science and Business Media, New York (2013)
Utkin, V., Shi, J.: Integral sliding mode in systems operating under uncertainty conditions. In: Proceedings of the 35th IEEE Conference on Decision and Control, vol. 4, pp. 4591–4596. IEEE (1996)
Utkin, V., Guldner, J., Shi, J.: Sliding Mode Control in Electro-Mechanical Systems. CRC Press, Boca Raton (2009)
Fridman, L.M.: An averaging approach to chattering. IEEE Trans. Autom. Control. 46(8), 1260–1265 (2001)
Fridman, L.M.: Chattering analysis in sliding mode systems with inertial sensors. Int. J. Control. 76(9–10), 906–912 (2003)
Boiko, I., Fridman, L., Iriarte, R.: Analysis of chattering in continuous sliding mode control. In: Proceedings of the 2005 American Control Conference, pp. 2439–2444. IEEE (2005)
Bartolini, G., Pisano, A., Punta, E., Usai, E.: A survey of applications of second-order sliding mode control to mechanical systems. Int. J. Control. 76(9–10), 875–892 (2003)
Levant, A.: Principles of 2-sliding mode design. Automatica 43(4), 576–586 (2007)
Mondal, S., Mahanta, C.: Nonlinear sliding surface based second order sliding mode controller for uncertain linear systems. Commun. Nonlinear Sci. Numer. Simul. 16(9), 3760–3769 (2011)
Salgado-Jimenez, T., Jouvencel, B.: Using a high order sliding modes for diving control a torpedo autonomous underwater vehicle. In: Proceedings of OCEANS 2003, vol. 2, pp. 934–939. IEEE (2003)
Mihoub, M., Nouri, A.S., Abdennour, R.B.: Real-time application of discrete second order sliding mode control to a chemical reactor. Control Eng. Pract. 17(9), 1089–1095 (2009)
Chen, C.Y., Li, T.H., Yeh, Y.C., Chang, C.C.: Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots. Mechatronics 19(2), 156–166 (2009)
Chen, C.Y., Li, T.H., Yeh, Y.C.: EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots. Inf. Sci. 179(1), 180–195 (2009)
Chen, N., Song, F., Li, G., Sun, X., Ai, C.: An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints. Commun. Nonlinear Sci. Numer. Simul. 18(10), 2885–2899 (2013)
Cui, M., Liu, W., Liu, H., Jiang, H., Wang, Z.: Extended state observer-based adaptive sliding mode control of differential-driving mobile robot with uncertainties. Nonlinear Dyn. 83(1), 667–683 (2016)
Huang, J.T., Van Hung, T., Tseng, M.L.: Smooth switching robust adaptive control for omnidirectional mobile robots. IEEE Trans. Control Syst. Technol. 23(5), 1986–1993 (2015)
Wang, H., Liu, L., He, P., Yu, M., Do, M.T., Kong, H., Man, Z.: Robust adaptive position control of automotive electronic throttle valve using PID-type sliding mode technique. Nonlinear Dyn. 85(2), 1331–1344 (2016)
Slotine, J., Li, W.: Applied Nonlinear Control. Prentice-Hall, New Jersey (1991)
Lewis, R.M., Torczon, V., Trosset, M.W.: Direct search methods: then and now. J. Comput. Appl. Math. 124(1), 191–207 (2000)
Author information
Authors and Affiliations
Corresponding author
Electronic supplementary material
Below is the link to the electronic supplementary material.
Supplementary material 1 (mp4 140135 KB)
Rights and permissions
About this article
Cite this article
Alakshendra, V., Chiddarwar, S.S. Adaptive robust control of Mecanum-wheeled mobile robot with uncertainties. Nonlinear Dyn 87, 2147–2169 (2017). https://doi.org/10.1007/s11071-016-3179-1
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11071-016-3179-1