Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot

In this study, real-time trajectory tracking control of an autonomous mobile robot, actuated by two DC motors, has been designed, analyzed and studied. Two different control approaches such as model based sliding mode (SMC) and the classical proportional–integral–derivative (PID) control are employed to increase the tracking performance of the mobile robot. A model based SMC technique has been presented in order to consider the complete dynamic model of the robot and in order to increase trajectory tracking performance of the system. The experimental outcomes strongly verified that the proposed controller gives a quite well trajectory tracking response and smaller magnitude overshot compared with the classical PID controller.

PDF

___

N. Uchiyama, T. Hashimoto, S. Sano and S. Takagi, "Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot," in IEEE Transactions on Industrial Electronics, vol. 56, no. 10, pp. 3892-3896, Oct. 2009.
M. Makarov, M. Grossard, P. Rodríguez-Ayerbe and D. Dumur, "Modeling and Preview$H_infty$Control Design for Motion Control of Elastic-Joint Robots With Uncertainties," in IEEE Transactions on Industrial Electronics, vol. 63, no. 10, pp. 6429-6438, Oct. 2016.
S. Li, Y. Zhang and L. Jin, "Kinematic Control of Redundant Manipulators Using Neural Networks," in IEEE Transactions on Neural Networks and Learning Systems, vol. 28, no. 10, pp. 2243-2254, Oct. 2017.
Y. Zhang, S. Chen, S. Li and Z. Zhang, "Adaptive Projection Neural Network for Kinematic Control of Redundant Manipulators With Unknown Physical Parameters," in IEEE Transactions on Industrial Electronics, vol. 65, no. 6, pp. 4909-4920, June 2018.
Z. Hou, A. Zou, L. Cheng and M. Tan, "Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach," in IEEE Transactions on Control Systems Technology, vol. 17, no. 4, pp. 803-815, July 2009.
D. Chwa, "Fuzzy Adaptive Tracking Control of Wheeled Mobile Robots With State-Dependent Kinematic and Dynamic Disturbances," in IEEE Transactions on Fuzzy Systems, vol. 20, no. 3, pp. 587-593, June 2012.
A. Rojas-Moreno and G. Perez-Valenzuela, "Fractional order tracking control of a wheeled mobile robot," 2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON), Cusco, 2017, pp. 1-4.
Y. Zhao, N. Chen and Y. Tai, "Trajectory tracking control of wheeled mobile robot based on fractional order backstepping," 2016 Chinese Control and Decision Conference (CCDC), Yinchuan, 2016, pp. 6730- 6734.
T. Chen, B. Dai, J. Song and L. Zhou, "On lateral fractional order controller in auto-parking system," Proceedings of the 30th Chinese Control Conference, Yantai, 2011, pp. 3429-3434.
V. Utkin, "Variable structure systems with sliding modes," in IEEE Transactions on Automatic Control, vol. 22, no. 2, pp. 212-222, April 1977.
C. -. Su, T. -. Leung and Y. Stepanenko, "Real-time implementation of regressor-based sliding mode control algorithm for robotic manipulators," in IEEE Transactions on Industrial Electronics, vol. 40, no. 1, pp. 71-79, Feb. 1993. L. M. Capisani and A. Ferrara, "Trajectory Planning and Second-Order Sliding Mode Motion/Interaction Control for Robot Manipulators in Unknown Environments," in IEEE Transactions on Industrial Electronics, vol. 59, no. 8, pp. 3189-3198, Aug. 2012.
J. Baek, M. Jin and S. Han, "A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators," in IEEE Transactions on Industrial Electronics, vol. 63, no. 6, pp. 3628-3637, June 2016.
F. Zhang, "High-speed nonsingular terminal switched sliding mode control of robot manipulators," in IEEE/CAA Journal of Automatica Sinica, vol. 4, no. 4, pp. 775-781, 2017.
M. Van, S. S. Ge and H. Ren, "Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control," in IEEE Transactions on Cybernetics, vol. 47, no. 7, pp. 1681-1693, July 2017.
J. Lee, P. H. Chang and M. Jin, "Adaptive Integral Sliding Mode Control With Time-Delay Estimation for Robot Manipulators," in IEEE Transactions on Industrial Electronics, vol. 64, no. 8, pp. 6796-6804, Aug. 2017.
G. P. Incremona, M. Rubagotti and A. Ferrara, "Sliding Mode Control of Constrained Nonlinear Systems," in IEEE Transactions on Automatic Control, vol. 62, no. 6, pp. 2965-2972, June 2017.
A. Ferrara and G. P. Incremona, "Design of an Integral Suboptimal Second-Order Sliding Mode Controller for the Robust Motion Control of Robot Manipulators," in IEEE Transactions on Control Systems Technology, vol. 23, no. 6, pp. 2316-2325, Nov. 2015.