Robust tracking with a sliding mode

2005 ◽  
pp. 51-74 ◽  
Author(s):  
Raymond Davies ◽  
Christopher Edwards ◽  
Sarah K. Spurgeon
Keyword(s):  
Sliding Mode ◽  
Robust Tracking

scholarly journals Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875457 ◽  
Author(s):  
Héctor M Becerra ◽  
J Armando Colunga ◽  
Jose Guadalupe Romero
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning ◽  
Sliding Mode ◽  
Orientation Angle ◽  
Robust Tracking ◽  
Robust Controllers ◽  
Wheeled Mobile Robots ◽  
Control Approach ◽  
Position And Orientation ◽  
Robot Position

This article is devoted to the design of robust position-tracking controllers for a perturbed wheeled mobile robot. We address the final objective of pose-regulation in a predefined time, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To do so, we propose the robust tracking of adequate trajectories for position coordinates, enforcing that the robot’s heading evolves tangent to the position trajectory and consequently the robot reaches a desired orientation. The robust tracking is achieved by a proportional–integral action or by a super-twisting sliding mode control. The main contribution of this article is a kinematic control approach for pose-regulation of wheeled mobile robots in which the orientation angle is not directly controlled in the closed-loop, which simplifies the structure of the control system with respect to existing approaches. An offline trajectory planning method based on parabolic and cubic curves is proposed and integrated with robust controllers to achieve good accuracy in the final values of position and orientation. The novelty in the trajectory planning is the generation of a set of candidate trajectories and the selection of one of them that favors the correction of the robot’s final orientation. Realistic simulations and experiments using a real robot show the good performance of the proposed scheme even in the presence of strong disturbances.

Dynamic optimal sliding-mode control for six-DOF follow-up robust tracking of active satellite

2011 ◽  
Vol 69 (7-8) ◽  
pp. 559-570 ◽  
Author(s):  
Li Yuankai ◽  
Jing Zhongliang ◽  
Hu Shiqiang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robust Tracking ◽  
Mode Control ◽  
Six Dof

On Transient Improvement of Variable Structure Controlled Systems Using Multimodel Switching 1

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
Mehmet Akar
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Multiple Model ◽  
Robust Tracking ◽  
Controlled Systems ◽  
Control Scheme ◽  
Transient Improvement ◽  
Simulation Results

This paper presents a multiple model/controller scheme for robust tracking of a class of nonlinear systems in the presence of large plant uncertainties and disturbance. Each model is associated with a sliding mode controller, and a switching logic is designed to pick the model that best approximates the plant at each instant. Theoretically, it is shown that the proposed control scheme achieves perfect tracking despite the existence of disturbance, whereas simulation results verify the improvement in the transient performance.

Omnidirectional mobile robot robust tracking: Sliding-mode output-based control approaches

2019 ◽  
Vol 85 ◽  
pp. 50-58 ◽  
Author(s):  
L. Ovalle ◽  
H. Ríos ◽  
M. Llama ◽  
V. Santibáñez ◽  
A. Dzul
Keyword(s):  
Mobile Robot ◽  
Sliding Mode ◽  
Robust Tracking ◽  
Omnidirectional Mobile Robot
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