Finite-time tracking control for nonholonomic wheeled mobile robot using adaptive fast nonsingular terminal sliding mode

Xie, H; Zheng, J; Sun, Z; Wang, H; Chai, R

Finite-time tracking control for nonholonomic wheeled mobile robot using adaptive fast nonsingular terminal sliding mode

Xie, H Zheng, J Sun, Z Wang, H Chai, R

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Publisher:: Springer Nature
Publication Type:: Journal Article
Citation:: Nonlinear Dynamics, 2022, 110, (2), pp. 1437-1453
Issue Date:: 2022-10-01

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Field	Value	Language
dc.contributor.author	Xie, H
dc.contributor.author	Zheng, J
dc.contributor.author	Sun, Z
dc.contributor.author	Wang, H
dc.contributor.author	Chai, R https://orcid.org/0000-0002-1922-7024
dc.date.accessioned	2023-04-26T03:48:57Z
dc.date.available	2023-04-26T03:48:57Z
dc.date.issued	2022-10-01
dc.identifier.citation	Nonlinear Dynamics, 2022, 110, (2), pp. 1437-1453
dc.identifier.issn	0924-090X
dc.identifier.issn	1573-269X
dc.identifier.uri	http://hdl.handle.net/10453/170098
dc.description.abstract	System uncertainties and external disturbances are the major causes of the trajectory tracking performance degradation in nonholonomic wheeled mobile robots (NWMRs). In this article, an adaptive fast nonsingular terminal sliding mode dynamic control (AFNTSMDC) method is proposed to provide enhanced robust and finite-time tracking performance for the NWMR. The proposed AFNTSMDC is a systematic design method based upon both the kinematic and dynamic model of the NWMR. The proposed controller has a simple form without singularity issue in the control input, which makes it practically implementable. The finite-time stability of the proposed tracking-error function is also proved using the Lyapunov function. Finally, circular trajectory tracking experiments are conducted to validate the robustness and convergence rate of the proposed AFNTSMDC scheme in comparison with the existing methods including classic kinematic control, robust sliding mode kinematic control, and conventional sliding mode dynamic control in the presence of uncertainties and external disturbances.
dc.language	en
dc.publisher	Springer Nature
dc.relation.ispartof	Nonlinear Dynamics
dc.relation.isbasedon	10.1007/s11071-022-07682-2
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	01 Mathematical Sciences, 09 Engineering
dc.subject.classification	Acoustics
dc.title	Finite-time tracking control for nonholonomic wheeled mobile robot using adaptive fast nonsingular terminal sliding mode
dc.type	Journal Article
utslib.citation.volume	110
utslib.for	01 Mathematical Sciences
utslib.for	09 Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Centre for Health Technologies (CHT)
utslib.copyright.status	open_access	*
dc.date.updated	2023-04-26T03:48:56Z
pubs.issue	2
pubs.publication-status	Published
pubs.volume	110
utslib.citation.issue	2

Abstract:

System uncertainties and external disturbances are the major causes of the trajectory tracking performance degradation in nonholonomic wheeled mobile robots (NWMRs). In this article, an adaptive fast nonsingular terminal sliding mode dynamic control (AFNTSMDC) method is proposed to provide enhanced robust and finite-time tracking performance for the NWMR. The proposed AFNTSMDC is a systematic design method based upon both the kinematic and dynamic model of the NWMR. The proposed controller has a simple form without singularity issue in the control input, which makes it practically implementable. The finite-time stability of the proposed tracking-error function is also proved using the Lyapunov function. Finally, circular trajectory tracking experiments are conducted to validate the robustness and convergence rate of the proposed AFNTSMDC scheme in comparison with the existing methods including classic kinematic control, robust sliding mode kinematic control, and conventional sliding mode dynamic control in the presence of uncertainties and external disturbances.

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http://hdl.handle.net/10453/170098