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...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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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. |
format | Online Article Text |
id | pubmed-9857416 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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