Dynamic sliding mode and backstepping controllers for trajectory tracking of mobile robot wheeled

• Autorzy: Mekkaoui Mohammed , Zemalache Megueni Kadda

Identyfikatory

DOI

10.15199/48.2024.04.43

Warianty tytułu

PL

Kontrolery trybu dynamicznego przesuwania i cofania do śledzenia trajektorii robota mobilnego na kołach

• Języki publikacji: EN

Abstrakty

EN

rajectory tracking for a wheeled mobile robot is a complex problem encountered in robotics science. Many difficulties affect robot tracking control such as, nonlinear model, robot parameter uncertainties, external factors and disturbances. In this article, two controllers: dynamic sliding mode (DSMC) and dynamic backstepping (DBKC) are proposed for path following. The main objective of the developed algorithms is to control a non-holonomic wheeled mobile robot (WMR), The design of the two controllers (DSMC) and (DBKC) is based on Lyapunov's theorem, the kinematic controller is used to provide the desired values of the linear and angular velocities for the given trajectory. A stability analysis based on Lyapunov is presented to ensure the stability and convergence of WMR to the desired position, speed and velocity. . The simulation results show the effectiveness of the robust controllers proposed in terms of precision and stability in different types of trajectories.

PL

Śledzenie trajektorii kołowego robota mobilnego to złożony problem napotykany w robotyce. Na sterowanie śledzeniem robota wpływa wiele trudności, takich jak model nieliniowy, niepewność parametrów robota, czynniki zewnętrzne i zakłócenia. W tym artykule do śledzenia ścieżki zaproponowano dwa kontrolery: tryb dynamicznego przesuwania (DSMC) i dynamiczne cofanie (DBKC). Głównym celem opracowanych algorytmów jest sterowanie nieholonomicznym kołowym robotem mobilnym (WMR). Konstrukcja dwóch sterowników (DSMC) i (DBKC) opiera się na twierdzeniu Lapunowa, sterownik kinematyczny służy do zapewnienia pożądanych wartości prędkości liniowej i kątowej dla danej trajektorii. Przedstawiono analizę stabilności opartą na Lapunowie, aby zapewnić stabilność i zbieżność WMR do pożądanej pozycji, prędkości i prędkości. . Wyniki symulacji pokazują skuteczność zaproponowanych solidnych sterowników pod względem precyzji i stabilności w różnych typach trajektorii.

Słowa kluczowe

EN

nonlinear model; dynamic control; kinematic control; Lyapunov method; backstepping control; sliding mode

PL

model nieliniowy; sterowanie kinematyczne; sterowanie dynamiczne; metoda Lapunowa; tryb ślizgowy; sterowanie cofaniem

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2024
• Tom: R. 100, nr 4
• Strony: 221--225
• Opis fizyczny: Bibliogr. 17 poz., rys.

Twórcy

autor

Mekkaoui Mohammed

• Department of Electrotechnic, Laboratory of Phisico-Chemical Studies, Dr Moulay Tahar University, Saida 20000, Algeria

• https://orcid.org/0009-0002-6965-5235

autor

Zemalache Megueni Kadda

• Department of Automatic, LDEE Laboratory USTO-MB University Oran 31000, Algeria

• https://orcid.org/0000-0002-0086-2773

Bibliografia

• [1] R. Dhaouadi et A. A. Hatab, "Dynamic modelling of differential drive mobile robots using lagrange and newton-euler methodologies: A unified framework," Advances in Robotics & Automation, vol. 2, pp. 1-7,2013.
• [2] Y. Kanayama, Y. Kimura, F. Miyazaki et T. Noguchi, "A stable tracking control method for an autonomous mobile robot," in Robotics and Automation, 1990. Proceedings. 1990 IEEE International Conference on, 1990, pp. 384-389.
• [3] M. Mekkaoui, Z. Meguenni Kadda, A. Omari, L. Mostefai, “Electrical Vehicle Modeling and Sliding Mode Control” AWERProcedia Information Technology & Computer Science 2013. Proceedings 3rd World Conference on Innovation and Computer Sciences 2013.
• [4] M. Mekkaoui, Z. Meguenni Kadda, A. Omari, L. Mostefai, “Electrical Vehicle Modeling and Backstepping Control” Indonesian Journal of Electrical Engineering and Computer Science ., Vol. 1, No. 1, January 2016, pp. 60 -70. ISSN: 2502- 4752.
• [5] J. Keighobadi, M. S. Sadeghi, K. A.Fazeli, “ Dynamic Sliding Mode Controller for Trajectory tracking of Nonholonomic Mobile Robots” International Federation of Automatic Control (IFAC), Preprints of the 18th IFAC World Congress August 2011, pp 962-967.
• [6] B. Belobo, M. R.Saad, R. Fareh, “Adaptive Sliding Mode Control of Wheeled Mobile Robot with Nonlinear Model and uncertainties ” 2018 IEEE Canadian Conference on Electrical & Computer Engineering (CCECE), 978-1-5386-2410- 4/18/©2018 IEEE
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• [15] S. M. Swadi, M. A. Tawfik, E. N. Abdulwahab and H. Almgotir_Kadhim, “Fuzzy-Backstepping Controller Based on Optimization Method for Trajectory Tracking of Wheeled Mobile Robot” 18th International Conference on Computer Modelling and Simulation. UKSim-AMSS IEEE Xplore 2016, pp. 147 -152.
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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki i promocja sportu (2025).