Paper Info
Title
Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems
Abstract
AbstractA continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR) is presented in this paper. The proposed approach is composed of conventional sliding-mode control (SMC) in the internal loop and modified switched second-order sliding-mode (S-SOSM) control in the external loop. Sliding-mode controller is equivalently represented as stabilization of the nominal system without uncertainties. An S-SOSM control algorithm is employed to counteract the impact of state-dependent unmodeled dynamics and time-varying external disturbances, and the unexpected chattering has been attenuated significantly. Particularly, state-space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements. Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach.
Year
DOI
Venue
2018
10.1155/2018/1430989
Periodicals
Field
DocType
Volume
Control algorithm,Control theory,Control theory,Robust control,Nonholonomic system,Mobile robot,Trajectory,Mathematics,Sliding mode control,Finite time
Journal
2018
Issue
ISSN
Citations 
1
1076-2787
0
PageRank 
References 
Authors
0.34
16
6
Name
Order
Citations
PageRank
Ce Hao131.87
hongbin wang2119.05
Xiaoyan Cheng300.34
Zhen Zhou43012.87
Shungang Ge500.34
Zhongquan Hu630.78