Extended state observer-based adaptive sliding mode control of differential-driving mobile robot with uncertainties

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• 作者：Mingyue Cui ; Wei Liu ; Hongzhao Liu ; Hualong Jiang ; Zhipeng Wang
• 关键词：Adaptive sliding model control ; Extended state observer ; Trajectory tracking ; Wheeled mobile robot
• 刊名：Nonlinear Dynamics
• 出版年：2016
• 出版时间：January 2016
• 年：2016
• 卷：83
• 期：1-2
• 页码：667-683
• 全文大小：1,234 KB
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• 作者单位：Mingyue Cui (1) (2)
  Wei Liu (1) (2)
  Hongzhao Liu (1) (2)
  Hualong Jiang (1)
  Zhipeng Wang (1) (2)
  
  1. College of Physical and Electronic Engineering, Nanyang Normal University, Nanyang, 473061, China
  2. Oil equipment intelligent control engineering laboratory of Henan province, Henan, Nanyang, 473061, China
  
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X

文摘

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. Keywords Adaptive sliding model control Extended state observer Trajectory tracking Wheeled mobile robot