Open AccessComposite control for trajectory tracking of wheeled mobile robots with NLESO and NTSMC
Author(s) -
Wang Haoyu,
Zuo Zhiqiang,
Wang Yijing,
Yang Hongjiu
Publication year - 2021
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12144
Subject(s) - control theory (sociology) , robustness (evolution) , mobile robot , computer science , tracking error , trajectory , convergence (economics) , bounded function , terminal sliding mode , sliding mode control , robot , control engineering , mathematics , nonlinear system , engineering , control (management) , artificial intelligence , mathematical analysis , biochemistry , chemistry , physics , astronomy , quantum mechanics , economics , gene , economic growth
This paper proposes a control strategy integrating the non‐linear extended state observer (NLESO) and the non‐singular terminal sliding mode control (NTSMC) for the trajectory tracking of wheeled mobile robots subject to bounded disturbances. A new transformation method of chained model in terms of Lie derivative is presented to simplify the controller design. A specific NLESO combining linear term and non‐linear term is designed to estimate the disturbances with a faster convergence performance. A scheme for determining the gain range of NLESO is explicitly given to facilitate the tuning of experimental parameters. Meanwhile, the NTSMC achieves finite time convergence of the tracking error system and the chattering phenomenon in NTSMC is dramatically alleviated with the compensation from NLESO. The experimental results validate the strong robustness and good performance of the proposed control strategy.