Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers
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 doub...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/4048507 |
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| _version_ | 1832550370964930560 |
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| author | Haitao Liu Jianhao Nie Jian Sun Xuehong Tian |
| author_facet | Haitao Liu Jianhao Nie Jian Sun Xuehong Tian |
| author_sort | Haitao Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-b18d91baa86d49fbb78a5d5767871f08 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-b18d91baa86d49fbb78a5d5767871f082025-02-03T06:06:54ZengWileyJournal of Control Science and Engineering1687-52491687-52572020-01-01202010.1155/2020/40485074048507Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain ObserversHaitao Liu0Jianhao Nie1Jian Sun2Xuehong Tian3School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang 524088, ChinaSchool of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang 524088, ChinaSchool of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang 524088, ChinaSchool of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang 524088, ChinaIn 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.http://dx.doi.org/10.1155/2020/4048507 |
| spellingShingle | Haitao Liu Jianhao Nie Jian Sun Xuehong Tian Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers Journal of Control Science and Engineering |
| title | Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers |
| title_full | Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers |
| title_fullStr | Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers |
| title_full_unstemmed | Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers |
| title_short | Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers |
| title_sort | adaptive super twisting sliding mode control for mobile robots based on high gain observers |
| url | http://dx.doi.org/10.1155/2020/4048507 |
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