Robust tracking control of a differential drive wheeled mobile robot using fast nonsingular terminal sliding mode

Xie, H; Zheng, J; Chai, R; Nguyen, HT

Robust tracking control of a differential drive wheeled mobile robot using fast nonsingular terminal sliding mode

Xie, H Zheng, J Chai, R

Nguyen, HT

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Publisher:: PERGAMON-ELSEVIER SCIENCE LTD
Publication Type:: Journal Article
Citation:: Computers and Electrical Engineering, 2021, 96
Issue Date:: 2021-12-01

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Field	Value	Language
dc.contributor.author	Xie, H
dc.contributor.author	Zheng, J
dc.contributor.author	Chai, R https://orcid.org/0000-0002-1922-7024
dc.contributor.author	Nguyen, HT
dc.date.accessioned	2022-05-25T10:40:08Z
dc.date.available	2022-05-25T10:40:08Z
dc.date.issued	2021-12-01
dc.identifier.citation	Computers and Electrical Engineering, 2021, 96
dc.identifier.issn	0045-7906
dc.identifier.issn	1879-0755
dc.identifier.uri	http://hdl.handle.net/10453/157694
dc.description.abstract	Differential drive wheeled mobile robots (DDWMRs) have been widely used in various applications due to their maneuverability and energy-saving characteristics. Tracking control of such mechanical systems with nonholonomic constraints in the presence of uncertainties and disturbances has attracted much attention. In this paper, a robust control scheme is developed for trajectory tracking control of a DDWMR in the presence of parametric uncertainties and disturbances. To fulfill the controller design, an inner–outer loop control structure is adopted for the DDWMR. For the inner-loop controller, a fast nonsingular terminal sliding mode (FNTSM) control law is applied for robust disturbance rejection in a finite time. Based on the kinematic model of the DDWMR, the outer-loop controller is designed for accurate trajectory tracking control. Finally, experiments are carried out to validate that the proposed control scheme has more robust tracking accuracy and faster response than an existing robust method.
dc.language	English
dc.publisher	PERGAMON-ELSEVIER SCIENCE LTD
dc.relation.ispartof	Computers and Electrical Engineering
dc.relation.isbasedon	10.1016/j.compeleceng.2021.107488
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0803 Computer Software, 0805 Distributed Computing, 0906 Electrical and Electronic Engineering
dc.subject.classification	Electrical & Electronic Engineering
dc.title	Robust tracking control of a differential drive wheeled mobile robot using fast nonsingular terminal sliding mode
dc.type	Journal Article
utslib.citation.volume	96
utslib.for	0803 Computer Software
utslib.for	0805 Distributed Computing
utslib.for	0906 Electrical and Electronic Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Centre for Health Technologies (CHT)
utslib.copyright.status	closed_access	*
dc.date.updated	2022-05-25T10:39:59Z
pubs.publication-status	Published
pubs.volume	96

Abstract:

Differential drive wheeled mobile robots (DDWMRs) have been widely used in various applications due to their maneuverability and energy-saving characteristics. Tracking control of such mechanical systems with nonholonomic constraints in the presence of uncertainties and disturbances has attracted much attention. In this paper, a robust control scheme is developed for trajectory tracking control of a DDWMR in the presence of parametric uncertainties and disturbances. To fulfill the controller design, an inner–outer loop control structure is adopted for the DDWMR. For the inner-loop controller, a fast nonsingular terminal sliding mode (FNTSM) control law is applied for robust disturbance rejection in a finite time. Based on the kinematic model of the DDWMR, the outer-loop controller is designed for accurate trajectory tracking control. Finally, experiments are carried out to validate that the proposed control scheme has more robust tracking accuracy and faster response than an existing robust method.

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http://hdl.handle.net/10453/157694