Sliding Mode Motion Control of Nonholonomic Mobile Robots
Sliding Mode Motion Control of Nonholonomic Mobile Robots
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DOI：
10.1109/37.753931
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发表时间：
1999-04
影响因子：
5.7
通讯作者：
Jung‐Min Yang;Jong-Hwan Kim
中科院分区：
文献类型：
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作者：
Jung‐Min Yang;Jong-Hwan Kim
由于非完整移动的机器人的运动约束是不可积的，即约束不能写成广义坐标的某个函数的时间导数，因此需要先进的跟踪控制技术。针对非完整轮式移动的机器人的轨迹跟踪问题，提出了一种鲁棒控制律。移动的机器人的状态变量用极坐标表示，系统的动力学方程用计算力矩法反馈线性化。为了使移动的机器人渐近稳定到期望轨迹，提出了一种新的滑模控制律。结果表明，所提出的方案是鲁棒有界系统干扰。仿真实例和实验结果表明，所提出的控制器的精确跟踪能力和鲁棒性能的有效性。
As nonholonomic mobile robots have constraints imposed on motions that are not integrable, i.e. the constraints cannot be written as time derivatives of some function of the generalized coordinates, advanced techniques are needed for the tracking control. In the paper a robust control law is proposed for trajectory tracking of nonholonomic wheeled mobile robots. The state variables of the mobile robot are represented in polar coordinates, and the dynamic equation of the system is feedback-linearized by a computed-torque method. A novel sliding mode control law is derived for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to bounded system disturbances. Simulation examples and experimental results are provided to show the effectiveness of the accurate tracking capability and the robust performance of the proposed controller.