Navigation of Four-Wheel-Steering Mobile Robots using Robust Fault-Tolerant Sliding Mode Control

被引：0
|
作者：
Dharmaweera, Madushanka Nishan [1 ]
Khoo, Sui Yang [2 ]
Man, Zhihong [3 ]
机构：
[1] Monash Univ, Sch Engn, Bandar Sunway, Malaysia
[2] Deakin Univ, Fac Sci & Technol, Geelong, Vic 3217, Australia
[3] Swinburne Univ Technol, Fac Engn & Ind Sci, Hawthorn, Vic 3122, Australia
来源：
11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010) | 2010年
关键词：
Adaptive sliding mode control; Fault-tolerant; Uncertainties; Adaptive Input-output feedback linearization;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the leader-follower tracking problem of a four-wheel-steering robot subjected to nonlinear uncertainties. Two control laws have been developed, based on the adaptive sliding mode method and the adaptive input-output feedback linearization method. The proposed control schemes have been tested by means of simulations.
引用
收藏
页码：1375 / 1380
页数：6
相关论文
共 50 条
  • [1] Robust H∞ Fault-Tolerant Lateral Control of Four-Wheel-Steering Autonomous Vehicles
    Jinghua Guo
    Yugong Luo
    Keqiang Li
    [J]. International Journal of Automotive Technology, 2020, 21 : 993 - 1000
  • [2] RobustH∞Fault-Tolerant Lateral Control of Four-Wheel-Steering Autonomous Vehicles
    Guo, Jinghua
    Luo, Yugong
    Li, Keqiang
    [J]. INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, 2020, 21 (04) : 993 - 1000
  • [3] Four-wheel-steering Vehicle Control via Sliding Mode Strategy
    Yuan, Haiying
    Gao, Yuan
    Dai, Xisheng
    Yu, Ling
    [J]. 2017 6TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS (DDCLS), 2017, : 572 - 577
  • [4] Development and implementation of a fault-tolerant vehicle-following controller for a four-wheel-steering vehicle
    Wang, Danwei
    Pham, Minhtuan
    Low, Chang Boon
    Tan, Chaisoon
    [J]. 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 13 - +
  • [5] Adaptive control of four-wheel-steering off-road mobile robots: Application to path tracking and heading control in presence of sliding
    Cariou, Christophe
    Lenain, Roland
    Thuilott, Benoit
    Martinet, Philippe
    [J]. 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, : 1759 - +
  • [6] Adaptive sliding mode control of a four-wheel-steering autonomous vehicle with uncertainty using parallel orientation and position control
    Norouzi, Armin
    Adibi-Asl, Hadi
    Kazemi, Reza
    Hafshejani, Parvin Fathi
    [J]. INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS, 2020, 27 (04) : 499 - 518
  • [7] Fractional robust finite time control of four-wheel-steering mobile robots subject to serious time-varying perturbations
    Jiang, Liquan
    Wang, Shuting
    Xie, Yuanlong
    Xie, Sheng Quan
    Zheng, Shiqi
    Meng, Jie
    [J]. Mechanism and Machine Theory, 2022, 169
  • [8] Fractional robust finite time control of four-wheel-steering mobile robots subject to serious time-varying perturbations
    Jiang, Liquan
    Wang, Shuting
    Xie, Yuanlong
    Xie, Sheng Quan
    Zheng, Shiqi
    Meng, Jie
    [J]. MECHANISM AND MACHINE THEORY, 2022, 169
  • [9] Fault Tolerant Control of Differential Drive Mobile Robots Using Sliding Mode Controller
    Yazdjerdi, Parisa
    Meskin, Nader
    [J]. 2017 5TH INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION, AND AUTOMATION (ICCIA), 2017, : 270 - 274
  • [10] Sensor Fault-Tolerant Control of Microgrid Using Robust Sliding-Mode Observer
    Shahzad, Ebrahim
    Khan, Adnan Umar
    Iqbal, Muhammad
    Saeed, Ahmad
    Hafeez, Ghulam
    Waseem, Athar
    Albogamy, Fahad R.
    Ullah, Zahid
    [J]. SENSORS, 2022, 22 (07)
12345