Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method

Wheeled mobile robots (WMRs) in real complex environments such as on extraterrestrial planets are confronted with uncertain external disturbances and strong coupling of wheel-ground interactions while tracking commanded trajectories. Methods based on sliding mode control (SMC) are popular approaches...

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Bibliographic Details
Published in:International journal of aerospace engineering 2019, Vol.2019 (2019), p.1-13
Main Authors: Gao, Haibo, Ding, Liang, You, Bo, Li, Zhi, Huang, Fengxiang
Format: Article
Language:English
Subjects:
Active control
Adaptive control
Aerospace engineering
Automation
Compensation
Computer simulation
Control theory
Feedforward control
International conferences
Kinematics
Longitude
Methods
Neural networks
Researchers
Robotics
Robots
Robustness
Sliding mode control
Slip
Slippage
Space missions
Tracking control
Trajectory control
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Summary:Wheeled mobile robots (WMRs) in real complex environments such as on extraterrestrial planets are confronted with uncertain external disturbances and strong coupling of wheel-ground interactions while tracking commanded trajectories. Methods based on sliding mode control (SMC) are popular approaches for these situations. Traditional SMC has some potential problems, such as slow convergence, poor robustness, and excessive output chattering. In this paper, a kinematic-based feed-forward control model is designed for WMRs with longitudinal slippage and applied to the closed-loop control system for active compensation of time-varying slip rates. And a new adaptive SMC method is proposed to guide a WMR in trajectory tracking missions based on the kinematic model of a general WMR. This method combines the adaptive control method and a fast double-power reaching law with the SMC method. A complete control loop with active slip compensation and adaptive SMC is thus established. Simulation results show that the proposed method can greatly suppress chattering and improve the robustness of trajectory tracking. The feasibility of the proposed method in the real world is demonstrated by experiments with a skid-steered WMR on the loose-soil terrain.
ISSN:1687-5966
1687-5974
DOI:10.1155/2019/4951538