The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Cet article aborde une stratégie de contrôle en mode glissant d'ordre élevé pour le suivi de sortie de robots mobiles non holonomiques. Tout d’abord, nous introduisons le modèle dynamique des robots, des moteurs d’entraînement et des conditions de contraintes cinématiques antidérapantes. Deuxièmement, nous décomposons le système en composants linéaires et non linéaires via le difféomorphisme et la transformation d'entrée non linéaire. Nous considérons également les variations des paramètres des robots et en déduisons le modèle incertain des robots. Troisièmement, nous concevons un contrôleur à mode glissant d’ordre élevé pour le suivi de sortie de systèmes connus et incertains, respectivement. Enfin, nous effectuons des simulations numériques, démontrant que le contrôle de mode glissant d'ordre élevé proposé réduit non seulement le problème de broutage des systèmes à mode glissant, mais possède également certaines propriétés de robustesse par rapport aux incertitudes des robots.
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Copier
Hongmin CHAO, Chi Kwong LI, Ahmad Besharati RAD, Yue Ming HU, "Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots" in IEICE TRANSACTIONS on Fundamentals,
vol. E85-A, no. 9, pp. 2169-2174, September 2002, doi: .
Abstract: This paper addresses a high-order sliding mode control strategy for output tracking of nonholonomic mobile robots. First, we introduce the dynamic model of robots, driving motors and nonslipping kinematics constraint conditions. Second, we decompose the system into linear and nonlinear components via diffeomorphism and nonlinear input transformation. Also we consider parameter variations of robots and deduce the uncertain model of robots. Third, we design a high order sliding mode controller for output tracking of known and uncertain systems, respectively. Finally, we perform numerical simulations, demonstrating that the proposed high-order sliding mode control not only reduces the chattering problem of sliding mode systems, but also has certain robustness properties with respect to uncertainties of robots.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/e85-a_9_2169/_p
Copier
@ARTICLE{e85-a_9_2169,
author={Hongmin CHAO, Chi Kwong LI, Ahmad Besharati RAD, Yue Ming HU, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots},
year={2002},
volume={E85-A},
number={9},
pages={2169-2174},
abstract={This paper addresses a high-order sliding mode control strategy for output tracking of nonholonomic mobile robots. First, we introduce the dynamic model of robots, driving motors and nonslipping kinematics constraint conditions. Second, we decompose the system into linear and nonlinear components via diffeomorphism and nonlinear input transformation. Also we consider parameter variations of robots and deduce the uncertain model of robots. Third, we design a high order sliding mode controller for output tracking of known and uncertain systems, respectively. Finally, we perform numerical simulations, demonstrating that the proposed high-order sliding mode control not only reduces the chattering problem of sliding mode systems, but also has certain robustness properties with respect to uncertainties of robots.},
keywords={},
doi={},
ISSN={},
month={September},}
Copier
TY - JOUR
TI - Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 2169
EP - 2174
AU - Hongmin CHAO
AU - Chi Kwong LI
AU - Ahmad Besharati RAD
AU - Yue Ming HU
PY - 2002
DO -
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E85-A
IS - 9
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - September 2002
AB - This paper addresses a high-order sliding mode control strategy for output tracking of nonholonomic mobile robots. First, we introduce the dynamic model of robots, driving motors and nonslipping kinematics constraint conditions. Second, we decompose the system into linear and nonlinear components via diffeomorphism and nonlinear input transformation. Also we consider parameter variations of robots and deduce the uncertain model of robots. Third, we design a high order sliding mode controller for output tracking of known and uncertain systems, respectively. Finally, we perform numerical simulations, demonstrating that the proposed high-order sliding mode control not only reduces the chattering problem of sliding mode systems, but also has certain robustness properties with respect to uncertainties of robots.
ER -