Abstract
In this paper, we propose a method for designing the sliding mode based tracking control of a mobile robot in Cartesian coordinates with an approach angle and an improved reaching law. In the proposed method, to solve the singular point problem, we consider the kinematics in Cartesian coordinates instead of the kinematics in polar coordinates. We consider the bounded disturbances of the dynamics. Next, we design a new sliding surface by using an approach angle to solve the sliding surface constraint problem. Also, we propose an improved reaching law which can reduce the chattering phenomenon and the reaching time. Then, we derive the new matrix to use the sliding mode control method to the kinematics and dynamics equations. Based on the proposed control law, we can derive the control input for the given arbitrary trajectories. We prove that the position tracking error asymptotically converges to zero by using the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through computer simulations.
| Original language | English |
|---|---|
| Pages (from-to) | 718-724 |
| Number of pages | 7 |
| Journal | International Journal of Control, Automation and Systems |
| Volume | 13 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2015 Jun 1 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
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Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates. / Lee, Jun Ku; Choi, Yoon Ho; Park, Jin Bae.
In: International Journal of Control, Automation and Systems, Vol. 13, No. 3, 01.06.2015, p. 718-724.Research output: Contribution to journal › Article
TY - JOUR
T1 - Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates
AU - Lee, Jun Ku
AU - Choi, Yoon Ho
AU - Park, Jin Bae
PY - 2015/6/1
Y1 - 2015/6/1
N2 - In this paper, we propose a method for designing the sliding mode based tracking control of a mobile robot in Cartesian coordinates with an approach angle and an improved reaching law. In the proposed method, to solve the singular point problem, we consider the kinematics in Cartesian coordinates instead of the kinematics in polar coordinates. We consider the bounded disturbances of the dynamics. Next, we design a new sliding surface by using an approach angle to solve the sliding surface constraint problem. Also, we propose an improved reaching law which can reduce the chattering phenomenon and the reaching time. Then, we derive the new matrix to use the sliding mode control method to the kinematics and dynamics equations. Based on the proposed control law, we can derive the control input for the given arbitrary trajectories. We prove that the position tracking error asymptotically converges to zero by using the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through computer simulations.
AB - In this paper, we propose a method for designing the sliding mode based tracking control of a mobile robot in Cartesian coordinates with an approach angle and an improved reaching law. In the proposed method, to solve the singular point problem, we consider the kinematics in Cartesian coordinates instead of the kinematics in polar coordinates. We consider the bounded disturbances of the dynamics. Next, we design a new sliding surface by using an approach angle to solve the sliding surface constraint problem. Also, we propose an improved reaching law which can reduce the chattering phenomenon and the reaching time. Then, we derive the new matrix to use the sliding mode control method to the kinematics and dynamics equations. Based on the proposed control law, we can derive the control input for the given arbitrary trajectories. We prove that the position tracking error asymptotically converges to zero by using the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through computer simulations.
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U2 - 10.1007/s12555-014-0024-5
DO - 10.1007/s12555-014-0024-5
M3 - Article
VL - 13
SP - 718
EP - 724
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
SN - 1598-6446
IS - 3
ER -