Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties
Wheeled mobile robots present a typical case of complex systems with nonholonomic constraints. In the past few years, the dominance of these systems has been a very active research field. In this paper, a new method based on an integral sliding mode control for the trajectory tracking of wheeled mob...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/7915375 |
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| author | Aicha Bessas Atallah Benalia Farès Boudjema |
| author_facet | Aicha Bessas Atallah Benalia Farès Boudjema |
| author_sort | Aicha Bessas |
| collection | DOAJ |
| description | Wheeled mobile robots present a typical case of complex systems with nonholonomic constraints. In the past few years, the dominance of these systems has been a very active research field. In this paper, a new method based on an integral sliding mode control for the trajectory tracking of wheeled mobile robots is proposed. The controller is designed to solve the reaching phase problem with the elimination of matched disturbances and minimize the unmatched one. We distinguish two parts in the suggested controller: a high-level controller to stabilize the nominal system and a discontinuous controller to assess the trajectory tracking in the presence of disturbances. This controller is robust during the entire motion. The effectiveness of the proposed controller is demonstrated through simulation studies for the unicycle with matched and unmatched disturbances. |
| format | Article |
| id | doaj-art-3bd2f066d7bc4e3f825582cd2c63ea4f |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-3bd2f066d7bc4e3f825582cd2c63ea4f2025-02-03T01:28:51ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/79153757915375Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of UncertaintiesAicha Bessas0Atallah Benalia1Farès Boudjema2LACoSERE Laboratory, Amar Telidji University, Laghouat, BP 37G Route de Ghardaïa, 03000 Laghouat, AlgeriaLACoSERE Laboratory, Amar Telidji University, Laghouat, BP 37G Route de Ghardaïa, 03000 Laghouat, AlgeriaLCP Laboratory, Ecole Nationale Polytechnique, 10 avenue Hassan Badi, BP 182, El-Harrach, Algiers, AlgeriaWheeled mobile robots present a typical case of complex systems with nonholonomic constraints. In the past few years, the dominance of these systems has been a very active research field. In this paper, a new method based on an integral sliding mode control for the trajectory tracking of wheeled mobile robots is proposed. The controller is designed to solve the reaching phase problem with the elimination of matched disturbances and minimize the unmatched one. We distinguish two parts in the suggested controller: a high-level controller to stabilize the nominal system and a discontinuous controller to assess the trajectory tracking in the presence of disturbances. This controller is robust during the entire motion. The effectiveness of the proposed controller is demonstrated through simulation studies for the unicycle with matched and unmatched disturbances.http://dx.doi.org/10.1155/2016/7915375 |
| spellingShingle | Aicha Bessas Atallah Benalia Farès Boudjema Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties Journal of Control Science and Engineering |
| title | Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties |
| title_full | Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties |
| title_fullStr | Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties |
| title_full_unstemmed | Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties |
| title_short | Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties |
| title_sort | integral sliding mode control for trajectory tracking of wheeled mobile robot in presence of uncertainties |
| url | http://dx.doi.org/10.1155/2016/7915375 |
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