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Robust adaptive sliding mode controller for a no holonomic mobile platform
Other Title(s)
تصميم مسيطر منزلق المتكيف المتين لمنصة التحرك الذاتي ذات القيود الغير التامة
Joint Authors
al-Samirrai, Shibli Ahmad
Hammah, Tayf Ghadban
Source
Issue
Vol. 25, Issue 8 (31 Aug. 2019), pp.19-38, 20 p.
Publisher
University of Baghdad College of Engineering
Publication Date
2019-08-31
Country of Publication
Iraq
No. of Pages
20
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
In this paper, a robust adaptive sliding mode controller is designed for a mobile platform trajectory tracking.
The mobile platform is an example of a nonholonomic mechanical system.
The presence of holonomic constraints reduces the number of degree of freedom that represents the system model, while the nonholonomic constraints reduce the differentiable degree of freedom.
The mathematical model was derived here for the mobile platform, considering the existence of one holonomic and two nonholonomic constraints imposed on system dynamics.
The partial feedback linearization method was used to get the input-output relation, where the output is the error functions between the position of a certain point on the platform and the desired path.
The dynamic error model was considered uncertain and subjected to friction torques on the wheels.
The adaptive sliding mode control was utilized to design a robust controller, that will force the platform to follow the desired trajectory.
The simulation of the proposed controller was done via MATLAB to reveal the ability of the robust adaptive sliding mode controller applied as a trajectory tracker for various path shapes.
American Psychological Association (APA)
al-Samirrai, Shibli Ahmad& Hammah, Tayf Ghadban. 2019. Robust adaptive sliding mode controller for a no holonomic mobile platform. Journal of Engineering،Vol. 25, no. 8, pp.19-38.
https://search.emarefa.net/detail/BIM-891283
Modern Language Association (MLA)
al-Samirrai, Shibli Ahmad& Hammah, Tayf Ghadban. Robust adaptive sliding mode controller for a no holonomic mobile platform. Journal of Engineering Vol. 25, no. 8 (Aug. 2019), pp.19-38.
https://search.emarefa.net/detail/BIM-891283
American Medical Association (AMA)
al-Samirrai, Shibli Ahmad& Hammah, Tayf Ghadban. Robust adaptive sliding mode controller for a no holonomic mobile platform. Journal of Engineering. 2019. Vol. 25, no. 8, pp.19-38.
https://search.emarefa.net/detail/BIM-891283
Data Type
Journal Articles
Language
English
Notes
Includes appendix : p. 38
Record ID
BIM-891283