Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC
Abstract This paper proposes a control strategy integrating the non‐linear extended state observer (NLESO) and the non‐singular terminal sliding mode control (NTSMC) for the trajectory tracking of wheeled mobile robots subject to bounded disturbances. A new transformation method of chained model in...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-08-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12144 |
| _version_ | 1811223263845548032 |
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| author | Haoyu Wang Zhiqiang Zuo Yijing Wang Hongjiu Yang |
| author_facet | Haoyu Wang Zhiqiang Zuo Yijing Wang Hongjiu Yang |
| author_sort | Haoyu Wang |
| collection | DOAJ |
| description | Abstract This paper proposes a control strategy integrating the non‐linear extended state observer (NLESO) and the non‐singular terminal sliding mode control (NTSMC) for the trajectory tracking of wheeled mobile robots subject to bounded disturbances. A new transformation method of chained model in terms of Lie derivative is presented to simplify the controller design. A specific NLESO combining linear term and non‐linear term is designed to estimate the disturbances with a faster convergence performance. A scheme for determining the gain range of NLESO is explicitly given to facilitate the tuning of experimental parameters. Meanwhile, the NTSMC achieves finite time convergence of the tracking error system and the chattering phenomenon in NTSMC is dramatically alleviated with the compensation from NLESO. The experimental results validate the strong robustness and good performance of the proposed control strategy. |
| first_indexed | 2024-04-12T08:29:01Z |
| format | Article |
| id | doaj.art-c8fa6ef887124f18a046f32796525811 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-12T08:29:01Z |
| publishDate | 2021-08-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-c8fa6ef887124f18a046f327965258112022-12-22T03:40:16ZengWileyIET Control Theory & Applications1751-86441751-86522021-08-0115121686169410.1049/cth2.12144Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMCHaoyu Wang0Zhiqiang Zuo1Yijing Wang2Hongjiu Yang3School of Electrical and Information Engineering Tianjin University Tianjin ChinaSchool of Electrical and Information Engineering Tianjin University Tianjin ChinaSchool of Electrical and Information Engineering Tianjin University Tianjin ChinaSchool of Electrical and Information Engineering Tianjin University Tianjin ChinaAbstract This paper proposes a control strategy integrating the non‐linear extended state observer (NLESO) and the non‐singular terminal sliding mode control (NTSMC) for the trajectory tracking of wheeled mobile robots subject to bounded disturbances. A new transformation method of chained model in terms of Lie derivative is presented to simplify the controller design. A specific NLESO combining linear term and non‐linear term is designed to estimate the disturbances with a faster convergence performance. A scheme for determining the gain range of NLESO is explicitly given to facilitate the tuning of experimental parameters. Meanwhile, the NTSMC achieves finite time convergence of the tracking error system and the chattering phenomenon in NTSMC is dramatically alleviated with the compensation from NLESO. The experimental results validate the strong robustness and good performance of the proposed control strategy.https://doi.org/10.1049/cth2.12144Spatial variables controlVelocity, acceleration and rotation controlControl of electric power systemsMobile robotsControl system analysis and synthesis methodsStability in control theory |
| spellingShingle | Haoyu Wang Zhiqiang Zuo Yijing Wang Hongjiu Yang Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC IET Control Theory & Applications Spatial variables control Velocity, acceleration and rotation control Control of electric power systems Mobile robots Control system analysis and synthesis methods Stability in control theory |
| title | Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC |
| title_full | Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC |
| title_fullStr | Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC |
| title_full_unstemmed | Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC |
| title_short | Composite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC |
| title_sort | composite control for trajectory tracking of wheeled mobile robots with nleso and ntsmc |
| topic | Spatial variables control Velocity, acceleration and rotation control Control of electric power systems Mobile robots Control system analysis and synthesis methods Stability in control theory |
| url | https://doi.org/10.1049/cth2.12144 |
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