Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers
| Autor: | Jianhao Nie, Tian Xuehong, Haitao Liu, Jian Sun |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Lyapunov stability
Observer (quantum physics) Article Subject Computer science Mode (statistics) Stability (learning theory) Mobile robot QA75.5-76.95 Tracking (particle physics) Engineering (General). Civil engineering (General) Sliding mode control Computer Science Applications Control theory Modeling and Simulation Electronic computers. Computer science Trajectory Electrical and Electronic Engineering TA1-2040 |
| Zdroj: | Journal of Control Science and Engineering, Vol 2020 (2020) |
| ISSN: | 1687-5249 |
| DOI: | 10.1155/2020/4048507 |
| Popis: | In this paper, a robust adaptive output feedback control strategy based on a sliding mode super-twisting algorithm is designed for the trajectory tracking control of a wheeled mobile robot. First, a robust adaptive law is designed to eliminate the influence of parameter uncertainties. Second, a double-power sliding mode surface is designed to improve the response speed of the robot system. Finally, a high-gain observer is employed to estimate the speed information. The stability of the closed-loop system is proved using the Lyapunov stability theorem. The effectiveness of the proposed control strategy is verified by simulation. |
| Databáze: | OpenAIRE |
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