IEICE TRANSACTIONS on Fundamentals
Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots
Summary :
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.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E85-A No.9 pp.2169-2174
- Publication Date
- 2002/09/01
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- LETTER
- Category
- Systems and Control
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Hongmin CHAO, Chi Kwong LI, Ahmad Besharati RAD, Yue Ming HU, "Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots" in IEICE TRANSACTIONS on Fundamentals,
vol. E85-A, no. 9, pp. 2169-2174, September 2002, doi: .
Abstract: 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.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/e85-a_9_2169/_p
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@ARTICLE{e85-a_9_2169,
author={Hongmin CHAO, Chi Kwong LI, Ahmad Besharati RAD, Yue Ming HU, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots},
year={2002},
volume={E85-A},
number={9},
pages={2169-2174},
abstract={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.},
keywords={},
doi={},
ISSN={},
month={September},}
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TY - JOUR
TI - Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 2169
EP - 2174
AU - Hongmin CHAO
AU - Chi Kwong LI
AU - Ahmad Besharati RAD
AU - Yue Ming HU
PY - 2002
DO -
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E85-A
IS - 9
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - September 2002
AB - 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.
ER -
English
