Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control

Imad Matraji; Ahmed Al-Durra; Andri Haryono; Khaled Al-Wahedi; Mohamed Abou-Khousa

doi:10.1016/j.conengprac.2017.11.009

Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control

Imad Matraji
, Ahmed Al-Durra
, Andri Haryono
, Khaled Al-Wahedi
, Mohamed Abou-Khousa

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

98 Scopus citations

Abstract

This paper presents design and implementation of adaptive Second Order Sliding Mode Control (SOSMC) for a four wheels Skid-Steered Mobile Robot (SSMR). The control objective is to follow a predefined trajectory by regulating the linear and angular velocities, and in presence of external disturbance and parametric uncertainty. Adaptive Super Twisting (AST) algorithm is designed in order to build a robust controller with neglected chattering in steady state. The proposed controller is validated experimentally. The results show that the proposed controller guarantees the performance of the conventional SOSMC under external disturbance and parametric uncertainty with less chattering.

Original language	British English
Pages (from-to)	167-176
Number of pages	10
Journal	Control Engineering Practice
Volume	72
DOIs	https://doi.org/10.1016/j.conengprac.2017.11.009
State	Published - Mar 2018

Keywords

Adaptive Second Order Sliding Mode Control
Experimental validation
Image processing validation
Skid Steered Mobile Robot
Trajectory tracking control

Access to Document

10.1016/j.conengprac.2017.11.009

Cite this

@article{a304d216e18a4b289d4e17cc7607ee5e,

title = "Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control",

abstract = "This paper presents design and implementation of adaptive Second Order Sliding Mode Control (SOSMC) for a four wheels Skid-Steered Mobile Robot (SSMR). The control objective is to follow a predefined trajectory by regulating the linear and angular velocities, and in presence of external disturbance and parametric uncertainty. Adaptive Super Twisting (AST) algorithm is designed in order to build a robust controller with neglected chattering in steady state. The proposed controller is validated experimentally. The results show that the proposed controller guarantees the performance of the conventional SOSMC under external disturbance and parametric uncertainty with less chattering.",

keywords = "Adaptive Second Order Sliding Mode Control, Experimental validation, Image processing validation, Skid Steered Mobile Robot, Trajectory tracking control",

author = "Imad Matraji and Ahmed Al-Durra and Andri Haryono and Khaled Al-Wahedi and Mohamed Abou-Khousa",

note = "Publisher Copyright: {\textcopyright} 2017",

year = "2018",

month = mar,

doi = "10.1016/j.conengprac.2017.11.009",

language = "British English",

volume = "72",

pages = "167--176",

journal = "Control Engineering Practice",

issn = "0967-0661",

publisher = "Elsevier Ltd",

}

TY - JOUR

T1 - Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control

AU - Matraji, Imad

AU - Al-Durra, Ahmed

AU - Haryono, Andri

AU - Al-Wahedi, Khaled

AU - Abou-Khousa, Mohamed

PY - 2018/3

Y1 - 2018/3

N2 - This paper presents design and implementation of adaptive Second Order Sliding Mode Control (SOSMC) for a four wheels Skid-Steered Mobile Robot (SSMR). The control objective is to follow a predefined trajectory by regulating the linear and angular velocities, and in presence of external disturbance and parametric uncertainty. Adaptive Super Twisting (AST) algorithm is designed in order to build a robust controller with neglected chattering in steady state. The proposed controller is validated experimentally. The results show that the proposed controller guarantees the performance of the conventional SOSMC under external disturbance and parametric uncertainty with less chattering.

AB - This paper presents design and implementation of adaptive Second Order Sliding Mode Control (SOSMC) for a four wheels Skid-Steered Mobile Robot (SSMR). The control objective is to follow a predefined trajectory by regulating the linear and angular velocities, and in presence of external disturbance and parametric uncertainty. Adaptive Super Twisting (AST) algorithm is designed in order to build a robust controller with neglected chattering in steady state. The proposed controller is validated experimentally. The results show that the proposed controller guarantees the performance of the conventional SOSMC under external disturbance and parametric uncertainty with less chattering.

KW - Adaptive Second Order Sliding Mode Control

KW - Experimental validation

KW - Image processing validation

KW - Skid Steered Mobile Robot

KW - Trajectory tracking control

UR - https://www.scopus.com/pages/publications/85038922225

U2 - 10.1016/j.conengprac.2017.11.009

DO - 10.1016/j.conengprac.2017.11.009

M3 - Article

AN - SCOPUS:85038922225

SN - 0967-0661

VL - 72

SP - 167

EP - 176

JO - Control Engineering Practice

JF - Control Engineering Practice

ER -

Trajectory tracking control of Skid-Steered Mobile Robot based on adaptive Second Order Sliding Mode Control

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this