期刊
IET CONTROL THEORY AND APPLICATIONS
卷 14, 期 3, 页码 415-426出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2018.6127
关键词
wheels; three-term control; Lyapunov methods; mobile robots; variable structure systems; control system synthesis; observers; trajectory control; reference trajectories; ESO-SMC controller; control performance; traditional proportional-integral-derivative controller; trajectory tracking control; mobile platform; mode approach; FMWMP; unknown disturbances; model uncertainties; UDMU; tracking performance; mecanum wheeled mobile platform; extended state observer-based sliding mode control approach; SMC scheme
资金
- National Natural Science Foundation of China [61525303, 41772377, 61673130]
- Top-Notch Young Talents Program of China
- Self-Planned Task of State Key Laboratory of Robotics and System (HIT) [SKLRS201806B]
This study proposes an extended state observer-based sliding mode control (ESO-SMC) strategy for trajectory tracking of a four mecanum wheeled mobile platform (FMWMP) with unknown disturbances and model uncertainties (UDMU) considered. Especially, the extended state observer (ESO) is designed to estimate not only the UDMU but also the unmeasured velocities of FMWMP. Based on the designed ESO, a sliding mode control (SMC) scheme is utilised to ensure the tracking performance as expected. By using Lyapunov synthesis, it is shown that all the signals of the whole system can be guaranteed to be uniformly ultimately bounded. To verify the effectiveness of the proposed control strategy, simulations and experiments are carried out with two different kinds of reference trajectories. Furthermore, a comparative work is done to show that the ESO-SMC controller has better control performance than traditional proportional-integral-derivative controller.
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