Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Modeling of Digital Twin Workshop Based on Perception Data Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Trajectory Tracking by Terminal Sliding Mode Control for a Three-Wheeled Mobile Robot

Authors : Jia-Xin Shao, Yu-Dong Zhao, Dong-Eon Kim, Jang-Myung Lee

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

In this paper, the issue of trajectory tracking for a non-holonomic three-wheeled mobile robot is researched and a controller with two layers’ structure which separately deals with the kinematic and dynamic characteristics of the mobile robot system is constructed. For the kinematics, a conventional and common kinematic controller is chosen to transform the position tracking errors into command velocity which will be taken as the reference input into the proposed dynamic controller. For the dynamics, a terminal sliding mode control strategy is designed to track the command velocity generated by the kinematic controller. The stability of the proposed control scheme has been proved by Lyapunov theory. Practical experiments are carried out to verify the effectiveness and accuracy of the proposed control algorithm.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Leader-Follower Formation Control Based on Artificial Potential Field and Sliding Mode Control
next chapter Research and Development of Ball-Picking Robot Technology
Literature
1.
Venkataraman, S.T., Gulati, S.: Terminal sliding modes: a new approach to nonlinear control synthesis. In: Fifth International Conference on Advanced Robotics, vol. 1, pp. 443–448 (1991)
2.
Man, Z.H., Paplinski, A.P., Wu, H.R.: A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators. IEEE Trans. Autom. Control 39(12), 2464–2469 (1994)MathSciNetCrossRefMATH
3.
Park, K.B., Tsuji, T.: Terminal sliding mode control of second-order nonlinear uncertain systems. Int. J. Robust Nonlinear Control 9(11), 769–780 (1999)MathSciNetCrossRefMATH
4.
Wu, Y.Q., Yu, X.H., Man, Z.H.: Terminal sliding mode control design for uncertain dynamic systems. Syst. Control Lett. 34(5), 281–287 (1998)MathSciNetCrossRefMATH
5.
Zuo, Z.Y.: Non-singular fixed-time terminal sliding mode control of non-linear systems. IET Control Theory Appl. 9(4), 545–552 (2015)MathSciNetCrossRef
6.
Chen, S.Y., Lin, F.J.: Robust nonsingular terminal sliding-mode control for nonlinear magnetic bearing system. IEEE Trans. Control Syst. Technol. 19(3), 636–643 (2011)CrossRef
7.
Ghasemi, H., Rezaie, B., Rahmani, Z.: The design of fast terminal sliding mode kinematic control for wheeled mobile robots. Int. J. Mechatron. Electr. Comput. Technol. 4, 660–692 (2014)
8.
Mobayen, S.: Fast terminal sliding mode tracking of non-holonomic systems with exponential decay rate. IET Control Theory Appl. 9(8), 1294–1301 (2014)MathSciNetCrossRef
9.
An, X.Y., Ren, Z., Lu, W.: Terminal sliding mode control of attitude synchronization for autonomous docking to a tumbling satellite. In: International Conference on Mechatronic Sciences, Electric Engineering and Computer, Shenyang, China (2013)
10.
Xu, K., Chen, M.: Terminal sliding mode control with disturbance observer for autonomous mobile robots. In: Proceedings of the 34th Chinese Control Conference, Hangzhou, China (2015)
Metadata
Title
Trajectory Tracking by Terminal Sliding Mode Control for a Three-Wheeled Mobile Robot
Authors
Jia-Xin Shao
Yu-Dong Zhao
Dong-Eon Kim
Jang-Myung Lee
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65297-9

Electronic ISBN: 978-3-319-65298-6

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65298-6_20

Premium Partner

    Image Credits