Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots

Chih Yang Chen; Tzuu Hseng S. Li; Ying Chieh Yeh; Cha Cheng Chang

doi:10.1016/j.mechatronics.2008.09.004

Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots

Chih Yang Chen, Tzuu Hseng S. Li, Ying Chieh Yeh, Cha Cheng Chang

Department of Electrical Engineering

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

153 Citations (Scopus)

Abstract

This paper designs an adaptive sliding-mode dynamic controller for wheeled mobile robots to implement the trajectory-tracking mission. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, although the wheeled mobile robot is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes. Finally, the real-time experiments of the adaptive sliding-mode dynamic controller on the test ground demonstrate the feasibility of practical wheeled mobile robot maneuvers.

Original language	English
Pages (from-to)	156-166
Number of pages	11
Journal	Mechatronics
Volume	19
Issue number	2
DOIs	https://doi.org/10.1016/j.mechatronics.2008.09.004
Publication status	Published - 2009 Mar

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Mechanical Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1016/j.mechatronics.2008.09.004

Cite this

@article{c759c4c95e56481a958a80fa9ee5cdfb,

title = "Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots",

abstract = "This paper designs an adaptive sliding-mode dynamic controller for wheeled mobile robots to implement the trajectory-tracking mission. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, although the wheeled mobile robot is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes. Finally, the real-time experiments of the adaptive sliding-mode dynamic controller on the test ground demonstrate the feasibility of practical wheeled mobile robot maneuvers.",

author = "Chen, {Chih Yang} and Li, {Tzuu Hseng S.} and Yeh, {Ying Chieh} and Chang, {Cha Cheng}",

note = "Funding Information: The support of this work in part by the National Science Council of the Republic of China under NSC 95-2221-E-006-363-MY2 is gratefully acknowledged.",

year = "2009",

month = mar,

doi = "10.1016/j.mechatronics.2008.09.004",

language = "English",

volume = "19",

pages = "156--166",

journal = "Mechatronics",

issn = "0957-4158",

publisher = "Elsevier Limited",

number = "2",

}

TY - JOUR

T1 - Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots

AU - Chen, Chih Yang

AU - Li, Tzuu Hseng S.

AU - Yeh, Ying Chieh

AU - Chang, Cha Cheng

N1 - Funding Information: The support of this work in part by the National Science Council of the Republic of China under NSC 95-2221-E-006-363-MY2 is gratefully acknowledged.

PY - 2009/3

Y1 - 2009/3

N2 - This paper designs an adaptive sliding-mode dynamic controller for wheeled mobile robots to implement the trajectory-tracking mission. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, although the wheeled mobile robot is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes. Finally, the real-time experiments of the adaptive sliding-mode dynamic controller on the test ground demonstrate the feasibility of practical wheeled mobile robot maneuvers.

AB - This paper designs an adaptive sliding-mode dynamic controller for wheeled mobile robots to implement the trajectory-tracking mission. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, although the wheeled mobile robot is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes. Finally, the real-time experiments of the adaptive sliding-mode dynamic controller on the test ground demonstrate the feasibility of practical wheeled mobile robot maneuvers.

UR - http://www.scopus.com/inward/record.url?scp=58249145054&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=58249145054&partnerID=8YFLogxK

U2 - 10.1016/j.mechatronics.2008.09.004

DO - 10.1016/j.mechatronics.2008.09.004

M3 - Article

AN - SCOPUS:58249145054

VL - 19

SP - 156

EP - 166

JO - Mechatronics

JF - Mechatronics

SN - 0957-4158

IS - 2

ER -

Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this