Journal article
Research on Sliding Mode Control Strategy of Wheeled Robot in Moving Process
Kongzhi Gongcheng = Control Engineering of China, Vol.28(5), pp.963-970
01/01/2021
Abstract
Aiming at solving the problem of path tracking control of mobile robot, a sliding mode control method is proposed combined with global stability and exponential reaching law. In the design of the controller, the inertial coordinate system and robot coordinate system are dfined firstly. The kinematic model of mobile robot is developed, the position error and attitude angle error are calibrated. The path tracking controller for mobile robots is designed by the exponential reaching law, and the control law algorithm is improved by global stability theorem, and Lyapunov function is used to prove the controller stability. Finally, the double closedloop control structure is used to simulate the path tracking system in MATLAB, and the comparison is made with the controller designed by the traditional exp-onential control law. The results show that the stability of linear velocity and angular velocity of the robot in the path tracking process is improved and the chattering of exponential control law is weakened by th
Details
- Title: Subtitle
- Research on Sliding Mode Control Strategy of Wheeled Robot in Moving Process
- Creators
- Yong ChenZhe LiuJian QiaoQing-hua LuYong-fang Xie
- Resource Type
- Journal article
- Publication Details
- Kongzhi Gongcheng = Control Engineering of China, Vol.28(5), pp.963-970
- ISSN
- 1671-7848
- Publisher
- Northeastern University
- Language
- Chinese
- Date published
- 01/01/2021
- Academic Unit
- Industrial and Systems Engineering
- Record Identifier
- 9984201453802771
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