Open AccessCritical Saturation Function Based Sliding Mode Control for Path Tracking of Mobile Robot
Author(s) -
Hong-Bin Ning,
Xiaofei Deng,
Jun-Wei Zhu,
Kailiang Zhou
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/864/1/012054
Subject(s) - backstepping , robustness (evolution) , control theory (sociology) , mobile robot , sliding mode control , computer science , saturation (graph theory) , control engineering , nonlinear system , robot , engineering , adaptive control , mathematics , artificial intelligence , control (management) , physics , biochemistry , chemistry , quantum mechanics , gene , combinatorics
This paper proposes a new sliding mode controller, as to enhance the performance of path tracking of three-wheeled mobile robot system. To begin with, backstepping design is used to construct a new sliding mode control law for better dynamic response and robustness. Next, in order to reduce chattering, the symbolic function is replaced with the critical saturation function in the conventional reaching law. At last, the simulation results show that backstepping design combined with saturation function can not only improve the response rate and robustness of the system, but also effectively reduce the chattering.