首页|Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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  • 国家科技期刊平台
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The trajectory tracking control performance of non-holonomic wheeled mobile robots(NWMRs)is subject to non-holonomic constraints,system uncertainties,and external distur-bances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-preci-sion,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the bar-rier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to pre-vent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the pre-specified convergence performance of the NWMR system output variables and strong robustness against uncertainties/distur-bances.

Adaptive sliding modebarrier functionnonholo-nomic wheeled mobile robot(NWMR)trajectory tracking control

Yunjun Zheng、Jinchuan Zheng、Ke Shao、Han Zhao、Hao Xie、Hai Wang

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School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China

School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Hawthorn VIC 3122, Australia

School of Civil Aviation, Northwestern Polytechnical University, Xi'an 710072, China

Shanghai Aerospace Control Technology Institute, Shanghai 201109

School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

College of Science, Health, Engineering and Education, Murdoch University, Perth WA6150, Australia

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国家留学基金委项目安徽省自然科学基金

20210669003719080885QE194

2024

10.1109/JAS.2023.124002

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(4)
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