Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile Robot
Mobile robots have played a vital role in the transportation industries, service robotics, and autonomous vehicles over the past decades. The development of robust tracking controllers has made mobile robots a powerful tool that can replace humans in industrial work. However, most of the traditional...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-08-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/11/4/78 |
| _version_ | 1797408112079011840 |
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| author | Tri Duc Tran Trong Trung Nguyen Van Tu Duong Huy Hung Nguyen Tan Tien Nguyen |
| author_facet | Tri Duc Tran Trong Trung Nguyen Van Tu Duong Huy Hung Nguyen Tan Tien Nguyen |
| author_sort | Tri Duc Tran |
| collection | DOAJ |
| description | Mobile robots have played a vital role in the transportation industries, service robotics, and autonomous vehicles over the past decades. The development of robust tracking controllers has made mobile robots a powerful tool that can replace humans in industrial work. However, most of the traditional controller updates are time-based and triggered at every predetermined time interval, which requires high communication bandwidth. Therefore, an event-triggered control scheme is essential to release the redundant data transmission. This paper presents a novel parameter-adaptive event-trigger sliding mode to control a two-wheeled mobile robot. The adaptive control scheme ensures that the mobile robot system can be controlled accurately without the knowledge of physical parameters. Meanwhile, the event trigger sliding approach guarantees the system robustness and reduces resource usage. A simulation in MATLAB and an experiment are carried out to validate the efficiency of the proposed controller. |
| first_indexed | 2024-03-09T03:53:38Z |
| format | Article |
| id | doaj.art-9cf21d57181b4f0fac8955b8968e010d |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T03:53:38Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-9cf21d57181b4f0fac8955b8968e010d2023-12-03T14:24:02ZengMDPI AGRobotics2218-65812022-08-011147810.3390/robotics11040078Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile RobotTri Duc Tran0Trong Trung Nguyen1Van Tu Duong2Huy Hung Nguyen3Tan Tien Nguyen4National Key Laboratory of Digital Control and System Engineering (DCSELab), Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City 700000, VietnamFaculty of Center for Continuing Education, Ho Chi Minh City University of Transport, Ho Chi Minh City 700000, VietnamNational Key Laboratory of Digital Control and System Engineering (DCSELab), Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City 700000, VietnamFaculty of Electronics and Telecommunication, Saigon University, Ho Chi Minh City 700000, VietnamNational Key Laboratory of Digital Control and System Engineering (DCSELab), Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City 700000, VietnamMobile robots have played a vital role in the transportation industries, service robotics, and autonomous vehicles over the past decades. The development of robust tracking controllers has made mobile robots a powerful tool that can replace humans in industrial work. However, most of the traditional controller updates are time-based and triggered at every predetermined time interval, which requires high communication bandwidth. Therefore, an event-triggered control scheme is essential to release the redundant data transmission. This paper presents a novel parameter-adaptive event-trigger sliding mode to control a two-wheeled mobile robot. The adaptive control scheme ensures that the mobile robot system can be controlled accurately without the knowledge of physical parameters. Meanwhile, the event trigger sliding approach guarantees the system robustness and reduces resource usage. A simulation in MATLAB and an experiment are carried out to validate the efficiency of the proposed controller.https://www.mdpi.com/2218-6581/11/4/78event-triggeredmobile robotsliding mode controladaptive control |
| spellingShingle | Tri Duc Tran Trong Trung Nguyen Van Tu Duong Huy Hung Nguyen Tan Tien Nguyen Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile Robot Robotics event-triggered mobile robot sliding mode control adaptive control |
| title | Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile Robot |
| title_full | Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile Robot |
| title_fullStr | Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile Robot |
| title_full_unstemmed | Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile Robot |
| title_short | Parameter-Adaptive Event-Triggered Sliding Mode Control for a Mobile Robot |
| title_sort | parameter adaptive event triggered sliding mode control for a mobile robot |
| topic | event-triggered mobile robot sliding mode control adaptive control |
| url | https://www.mdpi.com/2218-6581/11/4/78 |
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