Abstract
This paper investigates the trajectory tracking control problem of a four-wheel independently driven skid-steering mobile robot (FWID-SSMR) while considering friction resistance, parameter variation and external disturbances. Unlike previous studies that only achieved stable tracking control of FWID-SSMR, this paper accomplishes prescribed steady-state and transient performance. Based on the dynamic model of FWID-SSMR, an integer-order prescribed-time controller (IOPTC) is developed first, which can make the tracking errors converge to a predetermined residual set with a preset convergence rate in a prescribed time. Motivated by it, a fractional-order prescribed-time controller (FOPTC) is developed by exploiting the genetic attenuation properties of fractional calculus (FC) for improving the control performance. The feasibility and effectiveness of the developed controller are verified by Lyapunov theoretical analysis and numerical simulation studies. The simulation results show that both the IOPTC and FOPTC outperform the feedback controller (FBC). Moreover, the influence of the performance function on control performance is also tested, which can serve as a reference for selecting the appropriate performance function to use in future applications.
Similar content being viewed by others
Data availability
Data sharing is not applicable to this article as no datasets were generated or analyzed during the current study.
References
Dai, H., Chen, P., Yang, H.: Driving torque distribution strategy of skid-steering vehicles with knowledge-assisted reinforcement learning. Appl. Sci. 12(10), 5171 (2022)
Salgado, I., Cruz-Ortiz, D., Camacho, O., Chairez, I.: Output feedback control of a skid-steered mobile robot based on the super-twisting algorithm. Control. Eng. Pract. 58, 193–203 (2017)
Ling, Y., Wu, J., Lyu, Z., Xiong, P.: Backstepping controller for laser ray tracking of a target mobile robot. Meas. Control 53(7–8), 1540–1547 (2020)
Ibrahim, F., Abouelsoud, A., Fath El Bab, A.M., Ogata, T.: Discontinuous stabilizing control of skid-steering mobile robot (SSMR). J. Intell. Robot. Syst. 95, 253–266 (2019)
Huskić, G., Buck, S., Herrb, M., Lacroix, S., Zell, A.: High-speed path following control of skid-steered vehicles. Int. J. Robot. Res. 38(9), 1124–1148 (2019)
Chen, Y., Li, N., Zeng, W., Zhang, S., Ma, G.: Curved path following controller for 4w skid-steering mobile robots using backstepping. IEEE Access 10, 66072–66082 (2022)
Matraji, I., Al-Durra, A., Haryono, A., Al-Wahedi, K., Abou-Khousa, M.: Trajectory tracking control of skid-steered mobile robot based on adaptive second order sliding mode control. Control. Eng. Pract. 72, 167–176 (2018)
Zhang, J., Li, S., Meng, H., Li, Z., Sun, Z.: Variable gain based composite trajectory tracking control for 4-wheel skid-steering mobile robots with unknown disturbances. Control. Eng. Pract. 132, 105,428 (2023)
Hoang, N.B., Kang, H.J.: Neural network-based adaptive tracking control of mobile robots in the presence of wheel slip and external disturbance force. Neurocomputing 188, 12–22 (2016)
Liao, J., Chen, Z., Yao, B.: Performance-oriented coordinated adaptive robust control for four-wheel independently driven skid steer mobile robot. IEEE Access 5, 19048–19057 (2017)
Liao, J., Chen, Z., Yao, B.: Model-based coordinated control of four-wheel independently driven skid steer mobile robot with wheel-ground interaction and wheel dynamics. IEEE Trans. Ind. Inform. 15(3), 1742–1752 (2018)
Prado, Á.J., Torres-Torriti, M., Yuz, J., Cheein, F.A.: Tube-based nonlinear model predictive control for autonomous skid-steer mobile robots with tire–terrain interactions. Control. Eng. Pract. 101, 104,451 (2020)
Fan, Z., Li, X., Zhu, Y., Hao, B., Li, S., Zhou, T.: Research on trajectory tracking control of skid steering vehicle based on model predictive control. In: 2021 6th International Conference on Intelligent Transportation Engineering (ICITE 2021), pp. 929–941. Springer, Berlin (2022)
Song, Y., Zhou, S.: Neuroadaptive control with given performance specifications for mimo strict-feedback systems under nonsmooth actuation and output constraints. IEEE Trans. Neur. Net. Lear. 29(9), 4414–4425 (2017)
Song, Q., Ge, M.: Finite-time control of high-speed train with guaranteed steady-state and transient performance. IEEE Trans. Intell. Transp. Syst. 23(12), 23761–23770 (2022)
Polyakov, A.: Nonlinear feedback design for fixed-time stabilization of linear control systems. IEEE Trans. Autom. Contr. 57(8), 2106–2110 (2011)
Lu, K., Liu, Z., Wang, Y., Chen, C.P.: Fixed-time adaptive fuzzy control for uncertain nonlinear systems. IEEE Trans. Fuzzy Syst. 29(12), 3769–3781 (2020)
Sun, J., Yi, J., Pu, Z.: Fixed-time adaptive fuzzy control for uncertain nonstrict-feedback systems with time-varying constraints and input saturations. IEEE Trans. Fuzzy Syst. 30(4), 1114–1128 (2021)
Yu, Z., Li, Y., Lv, M., Chang, J., Pei, B.: Predefined-time anti-saturation fault-tolerant attitude control for tailless aircraft with guaranteed output constraints. Nonlinear Dyn. 111, 1399–1416 (2022)
Xu, K.T., Ge, M.F., Liang, C.D., Ding, T.F., Zhan, X.S.: Predefined-time time-varying formation control of networked autonomous surface vehicles: a velocity-and model-free approach. Nonlinear Dyn. 108(4), 3605–3622 (2022)
Huang, S., Wang, J., Xiong, L., Liu, J., Li, P., Wang, Z.: Distributed predefined-time fractional-order sliding mode control for power system with prescribed tracking performance. IEEE Trans. Power Syst. 37(3), 2233–2246 (2021)
Ge, M., Song, Q., Hu, X., Zhang, H.: Rbfnn-based fractional-order control of high-speed train with uncertain model and actuator failures. IEEE Trans. Intell. Transp. Syst. 21(9), 3883–3892 (2019)
Rojas-Moreno, A., Perez-Valenzuela, G.: Fractional order tracking control of a wheeled mobile robot. In: 2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON), pp. 1–4. IEEE (2017)
Ardjal, A., Bettayeb, M., Mansouri, R., Zouak, B.: Design and implementation of a model-free fractional order intelligent pi fractional order sliding mode controller for water level tank system. ISA Trans. 127, 501–510 (2022)
Singhal, K., Kumar, V., Rana, K.: Robust trajectory tracking control of non-holonomic wheeled mobile robots using an adaptive fractional order parallel fuzzy pid controller. J. Franklin Inst. 359(9), 4160–4215 (2022)
Xie, Y., Zhang, X., Meng, W., Zheng, S., Jiang, L., Meng, J., Wang, S.: Coupled fractional-order sliding mode control and obstacle avoidance of a four-wheeled steerable mobile robot. ISA Trans. 108, 282–294 (2021)
Chatzikomis, C., Zanchetta, M., Gruber, P., Sorniotti, A., Modic, B., Motaln, T., Blagotinsek, L., Gotovac, G.: An energy-efficient torque-vectoring algorithm for electric vehicles with multiple motors. Mech. Syst. Signal Process. 128, 655–673 (2019)
De Novellis, L., Sorniotti, A., Gruber, P.: Wheel torque distribution criteria for electric vehicles with torque-vectoring differentials. IEEE Trans. Veh. Technol. 63(4), 1593–1602 (2013)
Prasad, R., Ma, Y.: Hierarchical control coordination strategy of six wheeled independent drive (6wid) skid steering vehicle. IFAC-PapersOnLine 52(5), 60–65 (2019)
Hsu, L.Y., Chen, T.L.: An optimal wheel torque distribution controller for automated vehicle trajectory following. IEEE Trans. Veh. Technol. 62(6), 2430–2440 (2013)
Deng, H., Zhao, Y., Nguyen, A.T., Huang, C.: Fault-tolerant predictive control with deep-reinforcement-learning-based torque distribution for four in-wheel motor drive electric vehicles. IEEE-ASME Trans. Mech. 28(3), 668–680 (2023)
Gorenflo, R., Mainardi, F.: Fractional Calculus: Integral and Differential Equations of Fractional Order. Springer, Berlin (1997)
Matar, M.M., Abu Skhail, E.S.: On stability of nonautonomous perturbed semilinear fractional differential systems of order \(\alpha \in (1,2)\). J. Math. 2018(172381), 1–10 (2018)
Tavazoei, M.S., Haeri, M.: A note on the stability of fractional order systems. Math. Comput. Simul. 79(5), 1566–1576 (2009)
Zhao, K., Song, Y., Ma, T., He, L.: Prescribed performance control of uncertain Euler–Lagrange systems subject to full-state constraints. IEEE Trans. Neur. Net. Lear. 29(8), 3478–3489 (2017)
Zhou, S., Song, Y.: Prescribed performance neuroadaptive fault-tolerant compensation for mimo nonlinear systems under extreme actuator failures. IEEE Trans. Syst. Man Cybern. Syst. 51(9), 5427–5436 (2019)
Rodriguez-Seda, E.J., Tang, C., Spong, M.W., Stipanović, D.M.: Trajectory tracking with collision avoidance for nonholonomic vehicles with acceleration constraints and limited sensing. Int. J. Robot. Res. 33(12), 1569–1592 (2014)
Tao, G.: A simple alternative to the Barbalat lemma. IEEE Trans. Autom. Contr. 42(5), 698 (1997)
Zhang, F., Li, C.: Stability analysis of fractional differential systems with order lying in (1, 2). Adv. Differ. Equ. 2011, 1–17 (2011)
Bateman, H.: Higher transcendental functions [volumes i–iii], vol. 1. McGRAW-HILL Book Company, New York (1953)
Chen, Y., Wang, J.: Adaptive energy-efficient control allocation for planar motion control of over-actuated electric ground vehicles. IEEE Trans. Control Syst. Technol. 22(4), 1362–1373 (2013)
Chen, Y., Wang, J.: Design and experimental evaluations on energy efficient control allocation methods for overactuated electric vehicles: Longitudinal motion case. IEEE-ASME Trans. Mech. 19(2), 538–548 (2013)
Mohammadpour, E., Naraghi, M.: Robust adaptive stabilization of skid steer wheeled mobile robots considering slipping effects. Adv. Robot. 25(1–2), 205–227 (2011)
Funding
This work is supported by the Ministry of Education Research in the Humanities and Social Sciences Planning fund under Grant 22A10004024.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Ge, M., Xu, Hz. & Song, Q. Prescribed-time control of four-wheel independently driven skid-steering mobile robots with prescribed performance. Nonlinear Dyn 111, 20991–21005 (2023). https://doi.org/10.1007/s11071-023-08926-5
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11071-023-08926-5