A SLIDING MODE-BASED MODEL-FREE CONTROL FOR WHEELED MOBILE ROBOTS

Gunyaz Ablay

References

  1. [1] E. Fabregas, G. Farias, E. Aranda-Escol´astico, G. Garcia,D. Chaos, S. Dormido-Canto, and S.D. Bencomo, Simulationand experimental results of a new control strategy forpoint stabilization of nonholonomic mobile robots, IEEETransactions on Industrial Electronics, 67(8), 2020, 6679–6687.
  2. [2] D. Miˇskovi´c, L. Mili´c, A. ˇCilag, T. Berisavljevi´c, A. Gottscheber,and M. Rakovi´c, Implementation of robots integration inscaled laboratory environment for factory automation, AppliedSciences, 12, 2022, 1228.
  3. [3] W. Abbasi, F. Rehman, I. Shah, and A. Rauf, Stabilizingcontrol algorithm for nonholonomic wheeled mobile robotsusing adaptive integral sliding mode, International Journal ofRobotics and Automation, 34, 2019, 1–8.
  4. [4] A. Amani, and A. Chatti, Sliding mode control of nonholonomicuncertain perturbed wheeled mobile robot, InternationalJournal of Robotics and Automation, 36, 2021, 274–282.
  5. [5] L. Li, W. Cao, H. Yang, and Q. Geng, Trajectory trackingcontrol for a wheel mobile robot on rough and uneven ground,Mechatronics, 83, 2022, 102741.
  6. [6] H. Xie, J. Zheng, R. Chai, and H.T. Nguyen, Robust trackingcontrol of a differential drive wheeled mobile robot using fastnonsingular terminal sliding mode, Computers & ElectricalEngineering, 96, 2021, 107488.
  7. [7] D.-H. Kim and J.-H. Oh, Tracking control of a two-wheeled mobile robot using input–output linearization, ControlEngineering Practice, 7, 1999, 369–373.
  8. [8] L. Montoya-Villegas, J. Moreno-Valenzuela, and R. P´erez-Alcocer, A Feedback linearization-based motion controller fora UWMR with experimental evaluations, Robotica, 37, 2019,1073–1089.
  9. [9] K. Shojaei, A. Mohammad Shahri, and A. Tarakameh, Adaptivefeedback linearizing control of nonholonomic wheeled mobilerobots in presence of parametric and nonparametric uncer-tainties, Robotics and Computer-Integrated Manufacturing, 27,2011, 194–204.
  10. [10] Y. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, Astable tracking control method for a non-holonomic mobilerobot, Proc. IEEE/RSJ International Workshop on IntelligentRobots and Systems, Osaka, Japan, 1991, 1236–1241.
  11. [11] X. Wu, P. Jin, T. Zou, Z. Qi, H. Xiao, and P. Lou,Backstepping trajectory tracking based on fuzzy sliding modecontrol for differential mobile robots, Journal. Intelligence.Robotic System, 96, 2019, 109–121.
  12. [12] Q. Zhang, J. Shippen, and B. Jones, Robust backsteppingand neural network control of a low-quality nonholonomicmobile robot, International Journal of Machine Tools andManufacture, 39, 1999, 1117–1134.
  13. [13] M. Szeremeta and M. Szuster, Neural tracking control of a four-wheeled mobile robot with mecanum wheels, Applied Sciences,12, 2022, 5322.
  14. [14] C.-C. Tsai, H.-C. Huang, and S.-C. Lin, Adaptive neuralnetwork control of a self-balancing two-wheeled scooter, IEEETransactions on Industrial Electronics, 57(4), 2010, 1420–1428.
  15. [15] S.X. Yang, A. Zhu, G. Yuan, and M.Q.-H. Meng, A bioinspiredneurodynamics-based approach to tracking control of mobilerobots, IEEE Transaction on Industrial Electronics, 59, 2012,3211–3220.
  16. [16] G. Antonelli, S. Chiaverini, and G. Fusco, A fuzzy-logic-basedapproach for mobile robot path tracking, IEEE Transactionson Fuzzy Systems, 15, 2007, 211–221.
  17. [17] T. Dierks and S. Jagannathan, Asymptotic adaptive neuralnetwork tracking control of nonholonomic mobile robotformations, Journal Intelligence Robotic System, 56, 2009,153–176.
  18. [18] Z. Xu, S.X. Yang, and S.A. Gadsden, Enhanced bioinspiredbackstepping control for a mobile robot with unscented Kalmanfilter, IEEE Access, 8, 2020, 125899–125908.
  19. [19] R. Fierro and F.L. Lewis, Control of a nonholomic mobile robot:Backstepping kinematics into dynamics, Journal of RoboticSystems, 14, 1997, 149–163.
  20. [20] J. Fang, W. Liu, L. Chen, S. Lauria, A. Miron, and X. Liu, Asurvey of algorithms, applications and trends for particle swarmoptimization, International Journal of Network Dynamics andIntelligence, 2, 2023, 24–50.
  21. [21] S.G. Tzafestas, Mobile robot control and navigation: A globaloverview, Journal. of Intelligence. Robotic System, 91, 2018,35–58.
  22. [22] W.R. Abdul-Adheem, I.K. Ibraheem, A.J. Humaidi, A.Alkhayyat, R.A. Maher, A.I. Abdulkareem, and A.T. Azar,Design and analysis of a novel generalized continuous trackingdifferentiator, Ain Shams Engineering Journal, 13, 2022,101656.
  23. [23] V.I. Utkin, J. Guldner, and J. Shi, Sliding Mode Control inElectromechanical Systems, 2nd ed. Boca Raton, FL: CRCPress, 2009.
  24. [24] G. Ablay, Variable structure controllers for unstable processes,Journal of Process Control, 32, 2015, 10–15.

Important Links:

Go Back