Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism

Nonholonomic four-wheeled mobile robot (NFMR) is a typical multiple input–multiple output system that formulates its kinematic dynamics concerning position and attitude in a parallel manner. However, due to the lumped disturbances and interconnected states, demand-satisfied performance is difficult...

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Autores principales: Zhang, Xin, Qin, Dongchen, Wang, Shuting, Xie, Yuanlong, Li, Hu, Li, Shiqi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9857416/
https://www.ncbi.nlm.nih.gov/pubmed/36673168
http://dx.doi.org/10.3390/e25010027
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author Zhang, Xin
Qin, Dongchen
Wang, Shuting
Xie, Yuanlong
Li, Hu
Li, Shiqi
author_facet Zhang, Xin
Qin, Dongchen
Wang, Shuting
Xie, Yuanlong
Li, Hu
Li, Shiqi
author_sort Zhang, Xin
collection PubMed
description Nonholonomic four-wheeled mobile robot (NFMR) is a typical multiple input–multiple output system that formulates its kinematic dynamics concerning position and attitude in a parallel manner. However, due to the lumped disturbances and interconnected states, demand-satisfied performance is difficult to obtain for existing coupled control solutions. To address this problem, a double-loop sliding-mode control (DLSMC) mechanism is proposed for achieving position/attitude cascade regulation. For the outer position tracking loop in the proposed scheme, a sliding mode control method of the bounded time-varying integral nonsingular terminal is designed to guarantee fast tracking in the presence of large initial errors and input saturation. On the other hand, for the inner attitude control loop, a novel adaptive barrier function-based sliding-mode control method is proposed without control gain overestimation. This enables the attitude to follow within a predefined vicinity of the sliding mode surface and holds it subsequently independent of the lumped uncertainties. Theoretical analysis is conducted to demonstrate the asymptotic stability. Comparative experiments implemented on a homemade NFMR show enhanced trajectory tracking performance and system robustness using position/attitude cascade regulation via the proposed DLSMC mechanism.
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spelling pubmed-98574162023-01-21 Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism Zhang, Xin Qin, Dongchen Wang, Shuting Xie, Yuanlong Li, Hu Li, Shiqi Entropy (Basel) Article Nonholonomic four-wheeled mobile robot (NFMR) is a typical multiple input–multiple output system that formulates its kinematic dynamics concerning position and attitude in a parallel manner. However, due to the lumped disturbances and interconnected states, demand-satisfied performance is difficult to obtain for existing coupled control solutions. To address this problem, a double-loop sliding-mode control (DLSMC) mechanism is proposed for achieving position/attitude cascade regulation. For the outer position tracking loop in the proposed scheme, a sliding mode control method of the bounded time-varying integral nonsingular terminal is designed to guarantee fast tracking in the presence of large initial errors and input saturation. On the other hand, for the inner attitude control loop, a novel adaptive barrier function-based sliding-mode control method is proposed without control gain overestimation. This enables the attitude to follow within a predefined vicinity of the sliding mode surface and holds it subsequently independent of the lumped uncertainties. Theoretical analysis is conducted to demonstrate the asymptotic stability. Comparative experiments implemented on a homemade NFMR show enhanced trajectory tracking performance and system robustness using position/attitude cascade regulation via the proposed DLSMC mechanism. MDPI 2022-12-23 /pmc/articles/PMC9857416/ /pubmed/36673168 http://dx.doi.org/10.3390/e25010027 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Zhang, Xin
Qin, Dongchen
Wang, Shuting
Xie, Yuanlong
Li, Hu
Li, Shiqi
Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism
title Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism
title_full Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism
title_fullStr Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism
title_full_unstemmed Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism
title_short Position/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism
title_sort position/attitude cascade regulation of nonholonomic four-wheeled mobile robot via double-loop sliding-mode control mechanism
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9857416/
https://www.ncbi.nlm.nih.gov/pubmed/36673168
http://dx.doi.org/10.3390/e25010027
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