Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots
This paper presents a novel extended state observer (ESO) approach for a class of plants with nonlinear dynamics. The proposed observer estimates both the state variables and the total disturbance, which includes both exogenous and endogenous disturbance. The study’s changes can be summarized by dev...
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| Format: | Article |
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MDPI AG
2023-04-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/11/4/470 |
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| author | Ahmad Taher Azar Azher M. Abed Farah Ayad Abdul-Majeed Ibrahim A. Hameed Anwar Ja’afar Mohamad Jawad Wameedh Riyadh Abdul-Adheem Ibraheem Kasim Ibraheem Nashwa Ahmad Kamal |
| author_facet | Ahmad Taher Azar Azher M. Abed Farah Ayad Abdul-Majeed Ibrahim A. Hameed Anwar Ja’afar Mohamad Jawad Wameedh Riyadh Abdul-Adheem Ibraheem Kasim Ibraheem Nashwa Ahmad Kamal |
| author_sort | Ahmad Taher Azar |
| collection | DOAJ |
| description | This paper presents a novel extended state observer (ESO) approach for a class of plants with nonlinear dynamics. The proposed observer estimates both the state variables and the total disturbance, which includes both exogenous and endogenous disturbance. The study’s changes can be summarized by developing a sliding mode higher-order extended state observer with a higher-order augmented state and a nonlinear function for the estimation error correction terms (SMHOESO). By including multiple enhanced states, the proposed observer can monitor total disturbances asymptotically, with the second derivative of the total disturbance serving as an upper constraint on the estimation error. This feature improves the observer’s ability to estimate higher-order disturbances and uncertainty. To extend the concept of the linear extended state observer (LESO), a nonlinear function can modify the estimation error in such a way that the proposed observer can provide faster and more accurate estimations of the state and total disturbance. The proposed nonlinearity also reduces the chattering issue with LESOs. This research thoroughly examines and analyzes the proposed SMHOESO’s convergence using the Lyapunov technique. According to this analysis, the SMHOESO is asymptotically stable, and the estimation error can be significantly reduced under real-world conditions. In addition to the SMHOESO, a modified Active Disturbance Rejection Control (ADRC) scheme is built, which includes a nonlinear state error feedback (NLSEF) controller and a nonlinear tracking differentiator (TD). Several nonlinear models, including the Differential Drive Mobile Robot (DDMR), are numerically simulated, and the proposed SMHOESO is compared to several alternative types, demonstrating a significant reduction in controller energy, increased control signal smoothness, and accurate tracking of the reference signal. |
| first_indexed | 2024-03-11T04:48:27Z |
| format | Article |
| id | doaj.art-3eee03589596442792990945c82bd0ed |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T04:48:27Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-3eee03589596442792990945c82bd0ed2023-11-17T20:09:03ZengMDPI AGMachines2075-17022023-04-0111447010.3390/machines11040470Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile RobotsAhmad Taher Azar0Azher M. Abed1Farah Ayad Abdul-Majeed2Ibrahim A. Hameed3Anwar Ja’afar Mohamad Jawad4Wameedh Riyadh Abdul-Adheem5Ibraheem Kasim Ibraheem6Nashwa Ahmad Kamal7College of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi ArabiaDepartment of Air Conditioning and Refrigeration, Al-Mustaqbal University College, Hillah 51001, IraqAeronautical Department, College of Technical Engineering, Alfarahidi University, Baghdad 10070, IraqDepartment of ICT and Natural Sciences, Norwegian University of Science and Technology, Larsgårdsve-gen, 2, 6009 Ålesund, NorwayDepartment of Computer Techniques Engineering, Al-Rafidain University College, Baghdad 46036, IraqDepartment of Electrical Engineering, College of Engineering, University of Baghdad, Baghdad 10001, IraqDepartment of Computer Techniques Engineering, Dijlah University College, Baghdad 10022, IraqFaculty of Engineering, Cairo University, Giza 12613, EgyptThis paper presents a novel extended state observer (ESO) approach for a class of plants with nonlinear dynamics. The proposed observer estimates both the state variables and the total disturbance, which includes both exogenous and endogenous disturbance. The study’s changes can be summarized by developing a sliding mode higher-order extended state observer with a higher-order augmented state and a nonlinear function for the estimation error correction terms (SMHOESO). By including multiple enhanced states, the proposed observer can monitor total disturbances asymptotically, with the second derivative of the total disturbance serving as an upper constraint on the estimation error. This feature improves the observer’s ability to estimate higher-order disturbances and uncertainty. To extend the concept of the linear extended state observer (LESO), a nonlinear function can modify the estimation error in such a way that the proposed observer can provide faster and more accurate estimations of the state and total disturbance. The proposed nonlinearity also reduces the chattering issue with LESOs. This research thoroughly examines and analyzes the proposed SMHOESO’s convergence using the Lyapunov technique. According to this analysis, the SMHOESO is asymptotically stable, and the estimation error can be significantly reduced under real-world conditions. In addition to the SMHOESO, a modified Active Disturbance Rejection Control (ADRC) scheme is built, which includes a nonlinear state error feedback (NLSEF) controller and a nonlinear tracking differentiator (TD). Several nonlinear models, including the Differential Drive Mobile Robot (DDMR), are numerically simulated, and the proposed SMHOESO is compared to several alternative types, demonstrating a significant reduction in controller energy, increased control signal smoothness, and accurate tracking of the reference signal.https://www.mdpi.com/2075-1702/11/4/470mobile robotsliding mode controlextended state observeroutput trackingfeedback stabilization |
| spellingShingle | Ahmad Taher Azar Azher M. Abed Farah Ayad Abdul-Majeed Ibrahim A. Hameed Anwar Ja’afar Mohamad Jawad Wameedh Riyadh Abdul-Adheem Ibraheem Kasim Ibraheem Nashwa Ahmad Kamal Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots Machines mobile robot sliding mode control extended state observer output tracking feedback stabilization |
| title | Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots |
| title_full | Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots |
| title_fullStr | Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots |
| title_full_unstemmed | Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots |
| title_short | Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots |
| title_sort | design and stability analysis of sliding mode controller for non holonomic differential drive mobile robots |
| topic | mobile robot sliding mode control extended state observer output tracking feedback stabilization |
| url | https://www.mdpi.com/2075-1702/11/4/470 |
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