Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots
This paper proposes an integral sliding control system based on the nonlinear disturbance observer, aiming to the trajectory tracking of the mobile robot under the external disturbance. First, a kinematic model of mobile robot was built, besides, the position error signal was gained by the biologica...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8673761/ |
| _version_ | 1818331843724836864 |
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| author | Xiaohui Yang Peng Wei Yangyang Zhang Xiaoping Liu Li Yang |
| author_facet | Xiaohui Yang Peng Wei Yangyang Zhang Xiaoping Liu Li Yang |
| author_sort | Xiaohui Yang |
| collection | DOAJ |
| description | This paper proposes an integral sliding control system based on the nonlinear disturbance observer, aiming to the trajectory tracking of the mobile robot under the external disturbance. First, a kinematic model of mobile robot was built, besides, the position error signal was gained by the biological membrane potential model, and the problem of velocity oscillation was solved by the design of the backstepping controller. Then, an integral sliding control system was designed in accordance with the kinematic model of the mobile robot, meanwhile, a disturbance observer was designed in consideration of external disturbance to do the real-time observation on the disturbance occurring in the system with an addition of feedforward compensation and the observation error was converged by selecting the design parameters. The Lyapunov function was used to prove the stability of the system. Finally, the simulation of tracking circularity trajectory was utilized, with the comparison of trajectory without the use of jammer, to prove that this method can well overcome the nonlinear and uncertainty originated from external, thereby improving the control performance and increasing the robustness. |
| first_indexed | 2024-12-13T13:26:18Z |
| format | Article |
| id | doaj.art-33cce8276bbb47d798fdfd4d0b983a13 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T13:26:18Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-33cce8276bbb47d798fdfd4d0b983a132022-12-21T23:44:17ZengIEEEIEEE Access2169-35362019-01-017483824839110.1109/ACCESS.2019.29071268673761Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile RobotsXiaohui Yang0https://orcid.org/0000-0001-5439-4787Peng Wei1Yangyang Zhang2Xiaoping Liu3Li Yang4College of Information Engineering, Nanchang University, Nanchang, ChinaCollege of Information Engineering, Nanchang University, Nanchang, ChinaCollege of Information Engineering, Nanchang University, Nanchang, ChinaCollege of Information Engineering, Nanchang University, Nanchang, ChinaCollege of Information Engineering, Nanchang University, Nanchang, ChinaThis paper proposes an integral sliding control system based on the nonlinear disturbance observer, aiming to the trajectory tracking of the mobile robot under the external disturbance. First, a kinematic model of mobile robot was built, besides, the position error signal was gained by the biological membrane potential model, and the problem of velocity oscillation was solved by the design of the backstepping controller. Then, an integral sliding control system was designed in accordance with the kinematic model of the mobile robot, meanwhile, a disturbance observer was designed in consideration of external disturbance to do the real-time observation on the disturbance occurring in the system with an addition of feedforward compensation and the observation error was converged by selecting the design parameters. The Lyapunov function was used to prove the stability of the system. Finally, the simulation of tracking circularity trajectory was utilized, with the comparison of trajectory without the use of jammer, to prove that this method can well overcome the nonlinear and uncertainty originated from external, thereby improving the control performance and increasing the robustness.https://ieeexplore.ieee.org/document/8673761/Mobile robotstrajectory trackingdisturbance observerintegral sliding mode variable structureback-stepping control |
| spellingShingle | Xiaohui Yang Peng Wei Yangyang Zhang Xiaoping Liu Li Yang Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots IEEE Access Mobile robots trajectory tracking disturbance observer integral sliding mode variable structure back-stepping control |
| title | Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots |
| title_full | Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots |
| title_fullStr | Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots |
| title_full_unstemmed | Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots |
| title_short | Disturbance Observer Based on Biologically Inspired Integral Sliding Mode Control for Trajectory Tracking of Mobile Robots |
| title_sort | disturbance observer based on biologically inspired integral sliding mode control for trajectory tracking of mobile robots |
| topic | Mobile robots trajectory tracking disturbance observer integral sliding mode variable structure back-stepping control |
| url | https://ieeexplore.ieee.org/document/8673761/ |
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