| Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties | |
| Liu, Kang1; Ji, Haibo1; Zhang, Yinuo2,3 | |
| Corresponding Author | Liu, Kang(xinxilk@mail.ustc.edu.cn) |
| 2019-08-01 | |
| Source Publication | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
 |
| ISSN | 0954-4062 |
| Volume | 233Issue:15Pages:5460-5476 |
| Abstract | This paper proposes the control design for the wheeled mobile robot in the presence of external disturbances, parametric uncertainties together with input saturation. Integrating the extended state observer technique, a practical method named sliding mode control is designed to force the state variables to attain the stable equilibrium with the help of extended state observer by compensating uncertainty and disturbance (called lumped uncertainty). To handle the shortcoming of undesired chattering and the difficulty of choosing the control gain, sliding mode control with adaptive mechanism is applied, which has the ability to automatically adjust the control gain and can even work well without a requirement of knowing the upper bound on lumped uncertainty. Subsequently, an auxiliary system is further developed to cope with input saturation problem. In addition, the stability analysis of the closed-loop system is rigorously proved via Lyapunov theorem, manifesting that the proposed controller can guarantee the ultimate boundedness of all signals in the overall system and make tracking errors converge to an arbitrarily small neighborhood around zero by selecting appropriate control parameters. Finally, simulation results are intuitively carried out to demonstrate the feasibility of the introduced adaptive composite controller. |
| Keyword | Extended state observer input saturation lumped uncertainty sliding mode control trajectory tracking |
| Funding Organization | National Natural Science Foundation of China |
| DOI | 10.1177/0954406219849445 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Natural Science Foundation of China[61273090] |
| WOS Research Area | Engineering |
| WOS Subject | Engineering, Mechanical |
| WOS ID | WOS:000474911000022 |
| Publisher | SAGE PUBLICATIONS LTD |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/134373 |
| Collection | 中国科学院金属研究所 |
| Corresponding Author | Liu, Kang |
| Affiliation | 1.Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, Mfg Technol Dept, Shenyang, Liaoning, Peoples R China 3.Univ Chinese Acad Sci, Sch Engn Sci, Beijing, Peoples R China |
| Recommended Citation GB/T 7714 | Liu, Kang,Ji, Haibo,Zhang, Yinuo. Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2019,233(15):5460-5476. |
| APA | Liu, Kang,Ji, Haibo,&Zhang, Yinuo.(2019).Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,233(15),5460-5476. |
| MLA | Liu, Kang,et al."Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 233.15(2019):5460-5476. |
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