Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties

doi:10.1177/0954406219849445

CORC > 金属研究所 > 中国科学院金属研究所

	Extended state observer based adaptive sliding mode tracking control of wheeled mobile robot with input saturation and uncertainties
	Liu, Kang 1; Ji, Haibo 1; Zhang, Yinuo 2,3
刊名	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
	2019-08-01
卷号	233 期号:15 页码:5460-5476
关键词	Extended state observer input saturation lumped uncertainty sliding mode control trajectory tracking
ISSN号	0954-4062
DOI	10.1177/0954406219849445
通讯作者	Liu, Kang(xinxilk@mail.ustc.edu.cn)
英文摘要	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.
资助项目	National Natural Science Foundation of China[61273090]
WOS研究方向	Engineering
语种	英语
出版者	SAGE PUBLICATIONS LTD
WOS记录号	WOS:000474911000022
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/134372]
专题	金属研究所_中国科学院金属研究所
通讯作者	Liu, Kang
作者单位	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
推荐引用方式 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.