Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator
In this paper, the problem of controlling a group of mobile robots is considered; each one operates with the nonlinear nonholonomic under actuated dynamics. A coordinated control scheme is designed based on leader-follower(s) method to achieve prescribed formation maneuvers. This objective is fulfil...
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| Format: | Article |
| Language: | English |
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Unviversity of Technology- Iraq
2018-12-01
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| Series: | Engineering and Technology Journal |
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| Online Access: | https://etj.uotechnology.edu.iq/article_175338_d3689974eac27b982bc26030d74362bc.pdf |
| _version_ | 1797326027852087296 |
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| author | Laith Majeed |
| author_facet | Laith Majeed |
| author_sort | Laith Majeed |
| collection | DOAJ |
| description | In this paper, the problem of controlling a group of mobile robots is considered; each one operates with the nonlinear nonholonomic under actuated dynamics. A coordinated control scheme is designed based on leader-follower(s) method to achieve prescribed formation maneuvers. This objective is fulfilled using the approach of sliding mode controller based on conditional servocompensator, which will bring the system error trajectories into a positively invariant set (boundary layer) close to the origin. Then, a special form of servocompensator conditional integrator, which will be active only inside the boundary layer, will regulate the trajectories to the origin in finite time. Compared to the traditional integral which will deteriorate the performance of the feedback system, the conditional version will have a very insignificant effect on the performance. The simulation results show that the designed controller is able to achieve the objective efficiently with very reasonable control actions. |
| first_indexed | 2024-03-08T06:17:42Z |
| format | Article |
| id | doaj.art-a69e101fc35943409b5575bb1cb96ca6 |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:17:42Z |
| publishDate | 2018-12-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-a69e101fc35943409b5575bb1cb96ca62024-02-04T17:17:12ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582018-12-013612A1302131010.30684/etj.36.12A.12175338Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional ServocompensatorLaith Majeed0Control and Systems Engineering Department, University of Technology Baghdad, IraqIn this paper, the problem of controlling a group of mobile robots is considered; each one operates with the nonlinear nonholonomic under actuated dynamics. A coordinated control scheme is designed based on leader-follower(s) method to achieve prescribed formation maneuvers. This objective is fulfilled using the approach of sliding mode controller based on conditional servocompensator, which will bring the system error trajectories into a positively invariant set (boundary layer) close to the origin. Then, a special form of servocompensator conditional integrator, which will be active only inside the boundary layer, will regulate the trajectories to the origin in finite time. Compared to the traditional integral which will deteriorate the performance of the feedback system, the conditional version will have a very insignificant effect on the performance. The simulation results show that the designed controller is able to achieve the objective efficiently with very reasonable control actions.https://etj.uotechnology.edu.iq/article_175338_d3689974eac27b982bc26030d74362bc.pdfmobile robotsliding mode controller |
| spellingShingle | Laith Majeed Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator Engineering and Technology Journal mobile robot sliding mode controller |
| title | Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator |
| title_full | Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator |
| title_fullStr | Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator |
| title_full_unstemmed | Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator |
| title_short | Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator |
| title_sort | formation control of mobile robots using sliding mode control based on conditional servocompensator |
| topic | mobile robot sliding mode controller |
| url | https://etj.uotechnology.edu.iq/article_175338_d3689974eac27b982bc26030d74362bc.pdf |
| work_keys_str_mv | AT laithmajeed formationcontrolofmobilerobotsusingslidingmodecontrolbasedonconditionalservocompensator |