Hyperbolic Sliding Mode Trajectory Tracking Control of Mobile Robot

DOI

10.2991/eame-18.2018.49How to use a DOI?

Keywords

trajectory tracking control; mobile robot; sliding mode control law function; symbolic function; hyperbolic tangent function

Abstract

The trajectory tracking control is performed for the kinematics model of the mobile robot. The switching term of the traditional sliding mode control law function contains the symbolic function. Because of its discontinuity, it is not suitable to use the switching function in the derivation occasion. In this paper, the hyperbolic tangent function is introduced into the control switching term, and the entire closed-loop system is analyzed and controlled for stability, so as to realize the global asymptotic stability of the error tracking system.The error trajectory phase diagram and control input signal before and after improvement are compared by MATLAB simulation,it is found that the improved control function is more smooth, the control time is reduced from 10 seconds to 0.9 seconds, the chattering phenomenon is also greatly reduced. In this way, the kinematic trajectory tracking control of the mobile robot system is better achieved.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yaogang Ding
AU  - Chongxin Liu
AU  - Shengmin Lu
AU  - Ziwei Zhu
PY  - 2018/06
DA  - 2018/06
TI  - Hyperbolic Sliding Mode Trajectory Tracking Control of Mobile Robot
BT  - Proceedings of the 2018 3rd International Conference on Electrical, Automation and Mechanical Engineering (EAME 2018)
PB  - Atlantis Press
SP  - 234
EP  - 238
SN  - 2352-5401
UR  - https://doi.org/10.2991/eame-18.2018.49
DO  - 10.2991/eame-18.2018.49
ID  - Ding2018/06
ER  -