Jiang, L, Wang, S, Xie, Y et al. (3 more authors) (2022) Fractional robust finite time control of four-wheel-steering mobile robots subject to serious time-varying perturbations. Mechanism and Machine Theory, 169. 104634. ISSN 0094-114X
Abstract
The four-wheel-steering mobile robot (FMR) is widely applied in the manufacturing industry, where accurate and stable lateral motion control is a prerequisite for ensuring manufacturing quality and efficiency. However, serious time-varying perturbations such as system uncertainties and external disturbances usually lead to unsatisfactory control performance. By designing constrained prediction and sliding mode mechanisms, a novel adaptive fractional robust finite time controller is proposed to achieve a system with required control accuracy and stability under serious time-varying perturbations. Compared with existing FMR solutions, the proposed method has the following attractive properties: (1) Without requiring the derivatives of time-varying perturbations, the proposed method utilizes a modified fractional super-twisting sliding mode switching law to guarantee the system robustness of dynamical tracking and disturbance rejection; (2) The differences between the nominal predicted states and the feedback ones can be well accommodated despite unmodeled dynamics and external disturbance; (3) By designing continuous control inputs, the “chattering phenomenon” in conventional control laws is carefully handled. Moreover, sufficient conditions are derived for the variable control gains to ensure the input-to-state practical stability and finite time convergence. Under harsh working conditions, two comparative experiments implemented on a real-life FRM are performed for demonstrative purposes.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 Elsevier Ltd. All rights reserved. This is an author produced version of an article published in Mechanism and Machine Theory. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Four-wheel-steering mobile robots; Fractional robust finite time control; Time-varying perturbations; Sliding mode mechanism |
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: | 26 Jan 2022 13:28 |
Last Modified: | 29 Nov 2022 01:13 |
Status: | Published |
Publisher: | Elsevier |
Identification Number: | 10.1016/j.mechmachtheory.2021.104634 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:182100 |
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