Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers
Joint Authors
Liu, Haitao
Nie, Jianhao
Sun, Jian
Tian, Xuehong
Source
Journal of Control Science and Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-01
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
In this paper, a robust adaptive output feedback control strategy based on a sliding mode super-twisting algorithm is designed for the trajectory tracking control of a wheeled mobile robot.
First, a robust adaptive law is designed to eliminate the influence of parameter uncertainties.
Second, a double-power sliding mode surface is designed to improve the response speed of the robot system.
Finally, a high-gain observer is employed to estimate the speed information.
The stability of the closed-loop system is proved using the Lyapunov stability theorem.
The effectiveness of the proposed control strategy is verified by simulation.
American Psychological Association (APA)
Liu, Haitao& Nie, Jianhao& Sun, Jian& Tian, Xuehong. 2020. Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers. Journal of Control Science and Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1182679
Modern Language Association (MLA)
Liu, Haitao…[et al.]. Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers. Journal of Control Science and Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1182679
American Medical Association (AMA)
Liu, Haitao& Nie, Jianhao& Sun, Jian& Tian, Xuehong. Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers. Journal of Control Science and Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1182679
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1182679