SLIDING MODE CONTROL OF NONHOLONOMIC UNCERTAIN PERTURBED WHEELED MOBILE ROBOT

Amani Ayeb∗ and Abderrazak Chatti∗

References

  1. [1] A. Bartoszewicz and J. Zuk, Sliding mode control – Basic concepts and current trends, IEEE International Symposium on Industrial Electronics, 3, 2010, 37–44.
  2. [2] A.E. Ibrahim, A.M. Tobal, and M. Sultan, Satellite Attitude Maneuver using Sliding Mode Control under Body Angular 281 Velocity Constraints, International Journal of Computer Applications, 50(13), 2012, 41–46.
  3. [3] A. Ibrahim, Wheeled Mobile Robot Trajectory Tracking using Sliding Mode Control, Journal of Computer Science, 12(1), 2016, 48–55.
  4. [4] M. Boukattaya, N. Mezghani, and T. Damak, Adaptive nonsingular fast terminal sliding-mode control for the tracking problem of uncertain dynamical systems, ISA Transactions, 77, 2018, 1–19.
  5. [5] V. Utkin, Discussion aspects of high-order sliding mode control, IEEE Transactions on Automatic Control, 357(15), 2016, 829–833.
  6. [6] G. Rubio-Astorga, J.D. Snchez-Torres, J. Caedo, and A.G. Loukianov, High-order sliding mode control of induction motor, IEEE Transactions on Control Systems Technology, 22, 2014, 1828–1836.
  7. [7] M.B. Cheng, W.C. Su, and C.C. Tsai, Trajectory Tracking Control for an Uncertain Mobile Manipulator: Combining Sliding Mode and Neural Network, International Journal of Modelling and Simulation, 33(4), 2013, 212–224.
  8. [8] Y. Su and C. Zheng, Global finite-time tracking control of manipulators, Robotics Computer-Integrated Manufacturing, 27(3), 2011, 550–557.
  9. [9] Y. Feng F. Han, and X. Yu, Chattering free full-order slidingmode control, Automatica, 50(4), 2014, 1310–1314.
  10. [10] C. Samson, Control of chained systems application to path following and time-varying point stabilization of mobile robots, IEEE Transactions on Automatic Control, 40(1), 1995, 64–77. ISSN 1558-2523. DOI: 10.1109/9.362899.
  11. [11] G. Chen, B. Jin, and Y. Chen, Non-singular fast terminal sliding mode control for walking robots with redundant actuation, Mechatronics, 33(4) 2018, 1–15.
  12. [12] C.K. Lin, Nonsingular terminal sliding mode control of manipulators using fuzzy networks, IEEE Transactions Fuzzy Systems, 14(6), 2006, 849–859.
  13. [13] Q. Bingbing, W. Guofeng, F. Yunsheng, M. Dongdong, and S. Xiaojie, Adaptive Sliding Mode Trajectory Tracking Control for Unmanned Surface Vehicle with Modeling Uncertainties and Input Saturation, Applied Sciences, 8(12), 2019.
  14. [14] S.J. Abbasi, K.D. Kallu, and M.C. Lee, Efficient Control of a Non-Linear System Using a Modified Sliding Mode Control, Applied Sciences, 9(7), 2019, 1284–1304.
  15. [15] H. Hantao, J. Zhou, Q. Di, J. Zhou, and J. Li, Robust neural network–based tracking control and stabilization of a wheeled mobile robot with input saturation, International Journal of Robust and Nonlinear Control, 29(2), 2019, 375–392.
  16. [16] S. Mohd, D. Hazry, and R. Md Noor, A differential steering control with proportional controller for an autonomous mobile robot, IEEE 7th International Colloquium on Signal Processing and its Applications, 2011, 90–94.
  17. [17] Z. Ma and G. Sun, Rigid robotic manipulator terminal sliding mode control design Journal of the Franklin Institute, 355(18), 2018, 9127–9149.

Important Links:

Go Back