Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates

Jun Ku Lee, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to journalArticle

17 Citations (Scopus)

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 languageEnglish
Pages (from-to)718-724
Number of pages7
JournalInternational Journal of Control, Automation and Systems
Volume13
Issue number3
DOIs
Publication statusPublished - 2015 Jun 1

Fingerprint

Mobile robots
Kinematics
Sliding mode control
Trajectories
Control systems
Computer simulation

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications

Cite this

@article{4bac7b6ee3214f23b364947077ab7beb,
title = "Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates",
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.",
author = "Lee, {Jun Ku} and Choi, {Yoon Ho} and Park, {Jin Bae}",
year = "2015",
month = "6",
day = "1",
doi = "10.1007/s12555-014-0024-5",
language = "English",
volume = "13",
pages = "718--724",
journal = "International Journal of Control, Automation and Systems",
issn = "1598-6446",
publisher = "Institute of Control, Robotics and Systems",
number = "3",

}

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 journalArticle

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.

UR - http://www.scopus.com/inward/record.url?scp=84930081392&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84930081392&partnerID=8YFLogxK

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 -