Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer

Gang Wang, Chenghui Zhou, Yu Yu and Xiaoping Liu
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Gang Wang: School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Chenghui Zhou: School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Yu Yu: School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Xiaoping Liu: School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Energies, 2019, vol. 12, issue 17, 1-16

Abstract: When the wheeled mobile robot (WMR) is required to perform specific tasks in complex environment, i.e., on the forestry, wet, icy ground or on the sharp corner, wheel skidding and slipping inevitably occur during trajectory tracking. To improve the trajectory tracking performance of WMR under unknown skidding and slipping condition, an adaptive sliding mode controller (ASMC) design approach based on the extended state observer (ESO) is presented. The skidding and slipping is regarded as external disturbance. In this paper, the ESO is introduced to estimate the lumped disturbance containing the unknown skidding and slipping, parameter variation, parameter uncertainties, etc. By designing a sliding surface based on the disturbance estimation, an adaptive sliding mode tracking control strategy is developed to attenuate the lumped disturbance. Simulation results show that higher precision tracking and better disturbance rejection of ESO-ASMC is realized for linear and circular trajectory than the ASMC scheme. Besides, experimental results indicate the ESO-ASMC scheme is feasible and effective. Therefore, ESO-ASMC scheme can enhance the energy efficiency for the differentially driven WMR under unknown skidding and slipping condition.

Keywords: wheeled mobile robot; sliding mode; skidding and slipping; extended state observer (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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