Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot

2014 ◽  
Vol 61 (7) ◽  
pp. 3671-3681 ◽  
Author(s):  
Jian-Xin Xu ◽  
Zhao-Qin Guo ◽  
Tong Heng Lee
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Sliding Mode ◽  
Wheeled Mobile Robot ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Design And Implementation ◽  
Mode Control

scholarly journals Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Waseem Abbasi ◽  
Fazal ur Rehman
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Front Wheel ◽  
Stabilizing Controller ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Lie Brackets

This article presents adaptive integral sliding mode control algorithm for the stabilization of nonholonomic drift-free systems. First the system is transformed, by using input transform, into a special structure containing a nominal part and some unknown terms which are computed adaptively. The transformed system is then stabilized using adaptive integral sliding mode control. The stabilizing controller for the transformed system is constructed that consists of the nominal control plus a compensator control. The compensator control and the adaptive laws are derived on the basis of Lyapunov stability theory. The proposed control algorithm is applied to three different nonholonomic drift-free systems: the unicycle model, the front wheel car model, and the mobile robot with trailer model. The controllability Lie algebra of the unicycle model contains Lie brackets of depth one, the model of a front wheel car contains Lie brackets of depths one and two, and the model of a mobile robot with trailer contains Lie brackets of depths one, two, and three. The effectiveness of the proposed control algorithm is verified through numerical simulations.

Integral sliding mode control for trajectory tracking of a unicycle type mobile robot

2006 ◽  
Vol 13 (3) ◽  
pp. 277-288 ◽  
Author(s):  
Michael Defoort ◽  
Thierry Floquet ◽  
Annemarie Kokosy ◽  
Wilfrid Perruquetti
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

Continuous Finite-Time Integral Sliding Mode Control for Attitude Stabilization

2020 ◽  
Vol 67 (10) ◽  
pp. 2084-2088
Author(s):  
Lei Wang ◽  
Zhuoyue Song ◽  
Xiangdong Liu ◽  
Zhen Li ◽  
Tyrone Fernando ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Attitude Stabilization ◽  
Mode Control ◽  
Time Integral
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