Tracking Control of Omnidirectional Mobile Platform with Disturbance Using Differential Sliding Mode Controller

被引：13
|
作者：
Viet-Tuan Dinh [1 ]
Hung Nguyen [2 ]
Shin, Seung-Mok [1 ]
Kim, Hak-Kyeong [1 ]
Kim, Sang-Bong [1 ]
Byun, Gi-Sig [3 ]
机构：
[1] Pukyong Natl Univ, Dept Mech & Automot Engn, Pusan 608739, South Korea
[2] Univ Technol, Fac Mech Elect Elect, Ho Chi Minh City, Vietnam
[3] Pukyong Natl Univ, Dept Control & Instrumentat Engn, Pusan 608737, South Korea
来源：
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | 2012年 / 13卷 / 01期
基金：
新加坡国家研究基金会;
关键词：
Omnidirectional mobile platform (OMP); Force disturbance vector; Lyapunov direct method; Differential sliding mode controller (DSMC); ROBUST ADAPTIVE-CONTROL; TRAJECTORY GENERATION;
D O I：
10.1007/s12541-012-0006-6
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a differential sliding mode tracking controller (DSMC) using voltage input is designed for trajectory tracking of the three-wheeled omnidirectional mobile platform (OMP) based on its dynamic modeling with disturbances. First. a tracking error vector is defined, and then a differential sliding surface vector is chosen. A control law is obtained by using Lyapunov direct method with backstepping technique. The control law stabilizes the sliding surface vector and makes the tracking error vector go to zero asymptotically. To implement the designed controllers, a control system is developed based on PIC microcontroller. A camera sensor and encoders arc used The simulation and experiment results are presented to illustrate effectiveness of the proposed controller.
引用
收藏
页码：39 / 48
页数：10
相关论文
共 50 条
  • [1] Tracking control of omnidirectional mobile platform with disturbance using differential sliding mode controller
    Viet-Tuan Dinh
    Hung Nguyen
    Seung-Mok Shin
    Hak-Kyeong Kim
    Sang-Bong Kim
    Gi-Sig Byun
    [J]. International Journal of Precision Engineering and Manufacturing, 2012, 13 : 39 - 48
  • [2] Motion Control of an Omnidirectional Mobile Platform for Trajectory Tracking Using an Integral Sliding Mode Controller
    Nguyen Hung
    Viet, Tuan Dinh
    Im, Jae Sung
    Kim, Hak Kyeong
    Kim, Sang Bong
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2010, 8 (06) : 1221 - 1231
  • [3] Motion control of an omnidirectional mobile platform for trajectory tracking using an integral sliding mode controller
    Nguyen Hung
    Tuan Dinh Viet
    Jae Sung Im
    Hak Kyeong Kim
    Sang Bong Kim
    [J]. International Journal of Control, Automation and Systems, 2010, 8 : 1221 - 1231
  • [4] Trajectory Tracking Control Of Omnidirectional Mobile Robot Using Sliding Mode Controller
    Pham Hung Kim Khanh
    Nguyen Thanh Trung
    Phuc Thinh Doan
    Nguyen Hung
    [J]. 2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013), 2013, : 1170 - 1175
  • [5] Sliding-Mode-Disturbance-Observer-Based Robust Tracking Control for Omnidirectional Mobile Robots With Kinematic and Dynamic Uncertainties
    Jeong, Sangyoon
    Chwa, Dongkyoung
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2021, 26 (02) : 741 - 752
  • [6] Decentralized Motion Control for Omnidirectional Mobile Platform-Tracking a Trajectory Using PD Fuzzy Controller
    Thanh Luan Bui
    [J]. AETA 2015: RECENT ADVANCES IN ELECTRICAL ENGINEERING AND RELATED SCIENCES, 2016, 371 : 803 - 819
  • [7] 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
  • [8] Sliding mode navigation control of an omnidirectional mobile robot
    Mtibaa, Nafissa
    Krichen, Najla
    Derbel, Nabil
    [J]. 2019 19TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA), 2019, : 158 - 163
  • [9] Sliding mode controller design for trajectory tracking of a non-holonomic mobile robot with disturbance
    Goswami, Niraj Kumar
    Padhy, Prabin Kumar
    [J]. COMPUTERS & ELECTRICAL ENGINEERING, 2018, 72 : 307 - 323
  • [10] An Active Disturbance Rejection Sliding Mode Contour Tracking Control for Biaxial Moving Platform
    Li, Guozhu
    [J]. MOBILE INFORMATION SYSTEMS, 2022, 2022
12345