Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots

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概要

• 論文の詳細を見る

• This paper addresses a high-order sliding mode control strategy for output tracking of nonholonomic mobile robots. First, we introduce the dynamic model of robots, driving motors and nonslipping kinematics constraint conditions. Second, we decompose the system into linear and nonlinear components via diffeomorphism and nonlinear input transformation. Also we consider parameter variations of robots and deduce the uncertain model of robots. Third, we design a high order sliding mode controller for output tracking of known and uncertain systems, respectively. Finally, we perform numerical simulations, demonstrating that the proposed high-order sliding mode control not only reduces the chattering problem of sliding mode systems, but also has certain robustness properties with respect to uncertainties of robots.

• 社団法人電子情報通信学会の論文
• 2002-09-01

著者

• Li Chi

  Department Of Electronic And Information Engineering The Hong Kong Polytechnic University

• Hu Yue

  Department Of Automatic Control Engineering South China University Of Technology

• CHAO Hongmin

  Department of Automatic Control Engineering, South China University of Technology

• CHAO Hongmin

  The Department of Electronic and Information Engineering, The Hong Kong Polytechnic University

• LI Chi

  The Department of Electronic and Information Engineering, The Hong Kong Polytechnic University

• RAD Ahmad

  The Department of Electrical Engineering, The Hong Kong Polytechnic University

• HU Yue

  The Department of Automatic Control Engineering, South China University of Technology

• Rad Ahmad

  The Department Of Electrical Engineering The Hong Kong Polytechnic University

• Chao Hongmin

  Department Of Automatic Control Engineering South China University Of Technology

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