Xie, Y, Zhang, X, Meng, W et al. (4 more authors) (2020) Coupled Sliding Mode Control of an Omnidirectional Mobile Robot with Variable Modes*. In: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020), 06-09 Jul 2020, Boston, Massachusetts, USA. IEEE , pp. 1792-1797. ISBN 978-1-7281-6795-4
Abstract
Adequate tracking flexibility and accuracy of the omnidirectional mobile robot are difficult to be achieved with one fixed control frame due to the time-varying dynamics. This paper presents a coupled sliding mode control (CSMC) method, which is able to switch the alternative modes to adapt to operational conditions and perform a satisfactory tracking control. The design begins with constructing a unified state error model for the considered multiple modes. Then, by exploiting novel coupled sliding surfaces, a CSMC is formulated which can effectively alleviate the chattering. Meanwhile, based on the desired and current state information, a two-stage fuzzy switching mechanism is proposed to accomplish an autonomous switched tracking control. Theoretical analysis reveals that the system reaches the sliding manifold in finite time, and the convergence of the state errors can be guaranteed. Experiments on a real-life four-wheeled mobile robot validate the effectiveness and superiority of this control method comparing with single-mode control scheme or conventional methods.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Keywords: | Mobile robots , Kinematics , Wheels , Zirconium , Switches; adaptive control , control system synthesis , fuzzy control , mobile robots , nonlinear control systems , position control , time-varying systems , tracking , variable structure systems; mobile robot validate , single-mode control scheme , omnidirectional mobile robot , variable modes , fixed control frame , time-varying dynamics , coupled sliding mode control method , CSMC , alternative modes , satisfactory tracking control , unified state error model , considered multiple modes , sliding surfaces , desired state information , current state information , two-stage fuzzy switching mechanism , autonomous switched tracking control , sliding manifold , state errors |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 23 Sep 2020 15:27 |
Last Modified: | 16 Oct 2020 01:14 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/aim43001.2020.9158823 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:165853 |