This paper considers the problem of improving chattering reduction and trajectory tracking along a desired trajectory for a mobile robot. It is proposed that exponential sliding mode control is an effective solution to reduce chattering for the trajectory tracking of a nonholonomic mobile robot. Compared to conventional and second-order sliding modes, the developed sliding mode control reduces chattering and delivers a high dynamic tracking performance in a steady state mode. The developed algorithm instructs the robot to keep moving continuously on the desired trajectory while reducing tracking errors. Experimental results on a wheeled mobile robot are presented to demonstrate the performance of the exponential sliding mode controller algorithm compared to both conventional and second-order sliding mode algorithms.
DasT.KarI. N.Design and implementation of an adaptive fuzzy logic based controller of wheeled mobile robots. IEEE Trans. Control Syst. Technol., 2006, 14(3), 501–510.
2.
FierroR.LewisF. L.Control of a nonholonomic mobile robot: backstepping kinematics into dynamics. In Proceedings of the 34th IEEE International Conference on Decision and Control, 13–15 December 1995, pp. 3805–3810 (IEEE, New Orleans, Louisiana).
3.
FukaoT.NakagawaH.AdachiN.Adaptive tracking control of a nonholonomic mobile robot. IEEE Trans. Robot. Autom., 2000, 16(5), 609–615.
4.
KimM. S.ShinJ. H.HongS. G.LeeJ. J.Designing a robust adaptive dynamic controller for nonholonomic mobile robots under modeling uncertainties and disturbances. Mechatronics, 2003, 13(5), 507–519.
5.
CoelhoP.NunesU.Path-following control of mobile robots in presence of uncertainties. IEEE Trans. Robot. Autom., 2005, 21(2), 252–261.
6.
RyuJ. C.AgrawalS. K.Differential flatness-based robust control of a two-wheeled mobile robot in the presence of slip. ASME Dynamic Systems and Control Conference, 2008.
7.
TangC. P.Differential flatness-based kinematic and dynamic control of a differentially driven wheeled mobile robot. International Conference on Robotics and Biomimetics, Guilin, China, 2009.
8.
SlotineJ. J.LiW.Applied nonlinear control, 1991 (Prentice-Hall, Englewood Cliffs, New Jersey).
9.
UtkinV. I.Variable structure systems with sliding modes: a survey. IEEE Trans. Autom. Control, 1997, 22(2) 212–222.
LevantA.Sliding order and sliding accuracy in sliding mode control. Int. J. Control, 1993, 58, 1247–1263.
13.
ParkM. S.ChwaD.HongS. K.Decoupling control of a class of underactuated mechanical systems based on sliding mode control. In Proceedings of the International Joint Conference SICE-ICASE, Bexco, Busan, Korea, 18–21 October 2006, pp. 806–810. (IEEE)
14.
SankaranarayananV.MahindrakarA. D.Control of a class of underactuated mechanical systems using sliding modes. IEEE Trans. Robot., 2009, 25(2), 459–467.
FridmanL.Chattering analysis in sliding mode systems with inertial sensors. Int. J. Control, 2003, 76(9/10), 906–912.
17.
BoikoI.Analysis of sliding modes in the frequency domain. Int. J. Control, 2005, 78(13), 969–981.
18.
ShtesselY. B.ShkolnikovI. A.BrownM. D. J.An asymptotic second-order smooth sliding mode control. Asian J. Control, 2003, 5(4), 498–504.
19.
BartoliniG.FerraraA.UsaiE.UtkinV. I.On multi-input chattering-free second order sliding mode control. IEEE Trans. Autom. Control, 2000, 45(9), 1711–1717.
20.
ShimaT.IdanM.GolanO. M.Sliding-mode control for integrated missile autopilot guidance. J. Guid. Control Dyn., 2006, 29(2), 250–260.
21.
BartoliniG.PisanoA.PuntaE.UsaiE.A survey of applications of second order sliding mode control to mechanical systems. Int. J. Control, 2003, 76(9/10), 875–892.
22.
LevantA.Higher order sliding modes, differentiation and output feedback control. Int. J. Control, 2003, 76(9/10), 924–941.
23.
FerraraA.RubagottiM.Second-order sliding-mode control of a mobile robot based on a harmonic potential field. Proc. IET, Control Theory Appl., 2008, 2(9), 807–818.
24.
RiachyS.OrlovY.FloquetT.SantiestebanR.RichardJ. P.Second-order sliding mode control of underactuated mechanical systems 1: local stabilization with application to an inverted pendulum. Int. J. Robust Nonlinear Control, 2008, 18, 529–543.
25.
BartoliniG.FerraraA.PisanoA.UsaiE.On the convergence systems. Int. J. Control, 2001, 74, 718–731.
26.
BartoliniG.PisanoA.UsaiE.Digital second order sliding mode control for uncertain nonlinear systems. Automatica, 2001, 37(9), 1371–1377.
BoikoI.FridmanL.PisanoA.UsaiE.Analysis of chattering in systems with second-order sliding modes. IEEE Trans. Autom. Control, 2007, 52(11), 2085–2102.
29.
BoikoI.FridmanL.PisanoA.UsaiE.Performance analysis of second-order sliding-mode control systems with fast actuators. IEEE Trans. Autom. Control, 2007, 52(6), 1053–1059.
30.
XuY.Chattering free robust control for nonlinear systems. IEEE Trans. Control Syst. Technol., 2008, 16(6), 1352–1359.
31.
YangJ. M.KimJ. H.Sliding mode control of for trajectory tracking of nonholonomic wheeled mobile robots. IEEE Trans. Autom. Control, 1999, 15(3), 578–587.
32.
DagciO. H.OgrasU. Y.OzgunerU.Path following controller design using sliding mode control theory. In Proceedings of the American Control Conference, Denver, Colorado, 4–6 June 2003, pp. 903–908 (IEEE).
33.
CorradinM. L.OrlandG.Control of mobile robots with uncertainties in the dynamical model: a discrete time sliding mode approach with experimental results. Control Engng Pract., 2002, 10, 23–34.
34.
ChwaD. K.Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates. IEEE Trans. Control Syst. Technol., 2004, 12(4), 637–644.
35.
HwangC. H.ChangN. W.Fuzzy decentralized sliding-mode control of a car-like mobile robot in distributed sensor-network spaces. Control Engng Pract., 2008, 16(1), 97–109.
36.
LeeJ. H.LinC.LimH.LeeJ. M.Sliding mode control for trajectory tracking of mobile robot in the RFID sensor space. Int. J. Control Autom. Syst., 2009, 7(3), 429–435.
37.
ParkB.YooS. S.ParkJ. B.ChouY. H.Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty. IEEE Trans. Control Syst. Technol., 2009, 17(1), 207–214.
38.
WeibingG.HungJ. C.Variable structure control of nonlinear systems: a new approach. IEEE Trans. Ind. Electron., 1993, 40(1), 45–55.
39.
FallahC.Étude de la commmande par mode de glissement sur les systèmes mono et multi variables. Master’s Thesis, Department of Electrical Engineering, Quebec University (ETS), Montreal, Canada, 2007.
40.
KanayamaY.KimuraY.MiyazakiF.NoguchiT.A stable tracking control method for an autonomous mobile robot. IEEE International Conference on Robotics and Automation, 1999.
