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Robust-flatness Controller Design for a Differentially Driven Wheeled Mobile Robot

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  • Robot and Applications
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Abstract

This paper addresses the problem of robust motion control of a Differentially Driven Wheeled Mobile Robot (DWMR). Using the fact that DWMRs are differentially flat systems, the motion control design is relatively simplified by defining the desired motions of the robot in the flat output space of the system. The accurate and the robust trajectories tracking are provided firstly, by imposing the sliding manifold from the flat output space of the system. Secondly, an adaptive gain discontinuous control law -adaptive sliding mode controller- is introduced to drive to zero in finite time such sliding manifold, despite model uncertainties and external disturbances. The system stability is proven using the Lyapunov theory. Compared with classical Feedback control algorithms and using the laboratory test prototype, Pioneer 3DX, simulation and practical tests are presented to illustrate the performances of the proposed approach in the presence of unknown external disturbances.

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Authors and Affiliations

  1. Intelligent systems Laboratory, Electronics Department, Setif-1 University, 19000, Setif, Algeria

    Mabrouk Boubezoula, Abdelouhab Hassam & Oussama Boutalbi

Authors
  1. Mabrouk Boubezoula
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  2. Abdelouhab Hassam
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  3. Oussama Boutalbi
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Corresponding author

Correspondence to Mabrouk Boubezoula.

Additional information

Recommended by Associate Editor Kyoungchul Kong under the direction of Editor Hamid Reza Karimi.

Mabrouk Boubezoula was born in 1981 Setif, Algeria. He received his engineer and magister degree from Ferhat Abbas Setif1 university, in 2004 and 2008, respectively. Since 2006 he is with Intellegent Systems Laboratory (LSI), Ferhat Abbas Setif1 University. His research interests are: mobile robot control, mobile manipulator, fuzzy logic control and automation control.

Abdelouahab Hassam was born in Setif, Algeria, in 1958. He received the B.Sc. degree in Electronics Engineering, in 1983, from the National Polytechnic School of Algiers (ENPA), Algeria, in 2007, he received his Doctorat degree from University of Setif, Algeria, where he is a Professor in the Electronics Engineering Department. He carried out research work in fields related to robotics, information theory, signal processing, and sensors.

Oussama Boutalbi was born in 1988 Setif, Algeria. He received engineer and magister degree from Ferhat Abbas Setif1 University, in 2010 and 2014, respectively. Since 2013 he is with Intelegent Systems Laboratory (LSI), Ferhat Abbas Setif1 University. His research interests are: the motion planning and tracking control design of autonomous robot systems and robust control design for nonlinear systems.

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Boubezoula, M., Hassam, A. & Boutalbi, O. Robust-flatness Controller Design for a Differentially Driven Wheeled Mobile Robot. Int. J. Control Autom. Syst. 16, 1895–1904 (2018). https://doi.org/10.1007/s12555-017-0408-4

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  • DOI: https://doi.org/10.1007/s12555-017-0408-4

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