Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots: A Barrier Function Sliding Mode Approach

doi:10.1109/JAS.2023.124002

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	Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots: A Barrier Function Sliding Mode Approach
	Yunjun Zheng; Jinchuan Zheng; Ke Shao; Han Zhao; Hao Xie; Hai Wang
刊名	IEEE/CAA Journal of Automatica Sinica
	2024
卷号	11 期号:4 页码:1007-1021
关键词	Adaptive sliding mode barrier function nonholonomic wheeled mobile robot (NWMR) trajectory tracking control
ISSN号	2329-9266
DOI	10.1109/JAS.2023.124002
英文摘要	The trajectory tracking control performance of nonholonomic wheeled mobile robots (NWMRs) is subject to nonholonomic constraints, system uncertainties, and external disturbances. This paper proposes a barrier function-based adaptive sliding mode control (BFASMC) method to provide high-precision, fast-response performance and robustness for NWMRs. Compared with the conventional adaptive sliding mode control, the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds. Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function. The benefit is that the overestimation of control gain can be eliminated, resulting in chattering reduction. Moreover, a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator. The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the pre-specified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/55373]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yunjun Zheng,Jinchuan Zheng,Ke Shao,et al. Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots: A Barrier Function Sliding Mode Approach[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(4):1007-1021.
APA	Yunjun Zheng,Jinchuan Zheng,Ke Shao,Han Zhao,Hao Xie,&Hai Wang.(2024).Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots: A Barrier Function Sliding Mode Approach.IEEE/CAA Journal of Automatica Sinica,11(4),1007-1021.
MLA	Yunjun Zheng,et al."Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots: A Barrier Function Sliding Mode Approach".IEEE/CAA Journal of Automatica Sinica 11.4(2024):1007-1021.