SIA OpenIR  > 工艺装备与智能机器人研究室
Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties
Liu, Kang1; Ji, Haibo1; Zhang YN(张旖诺)2,3
Department工艺装备与智能机器人研究室
Source PublicationProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
ISSN0954-4062
2019
Volume233Issue:15Pages:5460-5476
Indexed BySCI ; EI
EI Accession number20192607100002
WOS IDWOS:000474911000022
Contribution Rank2
Funding OrganizationNational Natural Science Foundation of China
KeywordExtended state observer input saturation lumped uncertainty sliding mode control trajectory tracking
AbstractThis paper proposes the control design for the wheeled mobile robot in the presence of external disturbances, parametric uncertainties together with input saturation. Integrating the extended state observer technique, a practical method named sliding mode control is designed to force the state variables to attain the stable equilibrium with the help of extended state observer by compensating uncertainty and disturbance (called lumped uncertainty). To handle the shortcoming of undesired chattering and the difficulty of choosing the control gain, sliding mode control with adaptive mechanism is applied, which has the ability to automatically adjust the control gain and can even work well without a requirement of knowing the upper bound on lumped uncertainty. Subsequently, an auxiliary system is further developed to cope with input saturation problem. In addition, the stability analysis of the closed-loop system is rigorously proved via Lyapunov theorem, manifesting that the proposed controller can guarantee the ultimate boundedness of all signals in the overall system and make tracking errors converge to an arbitrarily small neighborhood around zero by selecting appropriate control parameters. Finally, simulation results are intuitively carried out to demonstrate the feasibility of the introduced adaptive composite controller.
Language英语
WOS SubjectEngineering, Mechanical
WOS KeywordMOTION CONTROL ; SYSTEMS ; STABILIZATION
WOS Research AreaEngineering
Funding ProjectNational Natural Science Foundation of China[61273090]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25226
Collection工艺装备与智能机器人研究室
Corresponding AuthorLiu, Kang
Affiliation1.Department of Automation, University of Science and Technology of China, China
2.Manufacturing Technology Department, Shenyang Institute of Automation, Chinese Academy of Sciences, China
3.School of Engineering Sciences, University of Chinese Academy of Sciences, China
Recommended Citation
GB/T 7714
Liu, Kang,Ji, Haibo,Zhang YN. Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,2019,233(15):5460-5476.
APA Liu, Kang,Ji, Haibo,&Zhang YN.(2019).Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties.Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,233(15),5460-5476.
MLA Liu, Kang,et al."Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties".Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233.15(2019):5460-5476.
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