期刊
NONLINEAR DYNAMICS
卷 83, 期 1-2, 页码 667-683出版社
SPRINGER
DOI: 10.1007/s11071-015-2355-z
关键词
Adaptive sliding model control; Extended state observer; Trajectory tracking; Wheeled mobile robot
资金
- National Natural Science Foundation [U1404614]
- Henan Province Education Department Foundation [14B120003, 15A4130 05]
- Nanyang Normal University Foundation [ZX20140 85, ZX2015007]
- Henan Province Scientific and Technological Foundation [122102210403, 142300410184]
Based on the uncertain nonlinear kinematic model of the differential-driving mobile robots, an adaptive sliding mode control method is used to design a controller for trajectory tracking of the differential-driving mobile robots with unknown parameter variations and external disturbances. The total uncertainties of the robot are estimated online by an improved linear extended state observer (ESO) with the error compensating term. The adaptive sliding mode controller with the switching gain is adjustable real-time online is developed by selecting the appropriate PID-type sliding surface. The convergence of the tracking errors for wheeled mobile robots is proved by the Lyapunov stability theory. Moreover, the simulation and real experiment results all show that the effectiveness and superiority of the proposed the adaptive sliding mode control method, in comparison with the traditional sliding model control and backstepping control method.
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