Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method
Wheeled mobile robots (WMRs) in real complex environments such as on extraterrestrial planets are confronted with uncertain external disturbances and strong coupling of wheel-ground interactions while tracking commanded trajectories. Methods based on sliding mode control (SMC) are popular approaches...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/4951538 |
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| author | Zhi Li Bo You Liang Ding Haibo Gao Fengxiang Huang |
| author_facet | Zhi Li Bo You Liang Ding Haibo Gao Fengxiang Huang |
| author_sort | Zhi Li |
| collection | DOAJ |
| description | Wheeled mobile robots (WMRs) in real complex environments such as on extraterrestrial planets are confronted with uncertain external disturbances and strong coupling of wheel-ground interactions while tracking commanded trajectories. Methods based on sliding mode control (SMC) are popular approaches for these situations. Traditional SMC has some potential problems, such as slow convergence, poor robustness, and excessive output chattering. In this paper, a kinematic-based feed-forward control model is designed for WMRs with longitudinal slippage and applied to the closed-loop control system for active compensation of time-varying slip rates. And a new adaptive SMC method is proposed to guide a WMR in trajectory tracking missions based on the kinematic model of a general WMR. This method combines the adaptive control method and a fast double-power reaching law with the SMC method. A complete control loop with active slip compensation and adaptive SMC is thus established. Simulation results show that the proposed method can greatly suppress chattering and improve the robustness of trajectory tracking. The feasibility of the proposed method in the real world is demonstrated by experiments with a skid-steered WMR on the loose-soil terrain. |
| format | Article |
| id | doaj-art-41e591c071b446e49a84274a6f71a75a |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-41e591c071b446e49a84274a6f71a75a2025-02-03T06:12:35ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742019-01-01201910.1155/2019/49515384951538Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC MethodZhi Li0Bo You1Liang Ding2Haibo Gao3Fengxiang Huang4Mechanical & Power Engineering College, Harbin University of Science and Technology, Harbin, ChinaMechanical & Power Engineering College, Harbin University of Science and Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaNetworking BU, TP-Link Technology, Shenzhen, ChinaWheeled mobile robots (WMRs) in real complex environments such as on extraterrestrial planets are confronted with uncertain external disturbances and strong coupling of wheel-ground interactions while tracking commanded trajectories. Methods based on sliding mode control (SMC) are popular approaches for these situations. Traditional SMC has some potential problems, such as slow convergence, poor robustness, and excessive output chattering. In this paper, a kinematic-based feed-forward control model is designed for WMRs with longitudinal slippage and applied to the closed-loop control system for active compensation of time-varying slip rates. And a new adaptive SMC method is proposed to guide a WMR in trajectory tracking missions based on the kinematic model of a general WMR. This method combines the adaptive control method and a fast double-power reaching law with the SMC method. A complete control loop with active slip compensation and adaptive SMC is thus established. Simulation results show that the proposed method can greatly suppress chattering and improve the robustness of trajectory tracking. The feasibility of the proposed method in the real world is demonstrated by experiments with a skid-steered WMR on the loose-soil terrain.http://dx.doi.org/10.1155/2019/4951538 |
| spellingShingle | Zhi Li Bo You Liang Ding Haibo Gao Fengxiang Huang Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method International Journal of Aerospace Engineering |
| title | Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method |
| title_full | Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method |
| title_fullStr | Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method |
| title_full_unstemmed | Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method |
| title_short | Trajectory Tracking Control for WMRs with the Time-Varying Longitudinal Slippage Based on a New Adaptive SMC Method |
| title_sort | trajectory tracking control for wmrs with the time varying longitudinal slippage based on a new adaptive smc method |
| url | http://dx.doi.org/10.1155/2019/4951538 |
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