Sliding mode-PID approach for robust low-level control of a UGV

Tran, TH; Nguyen, MT; Kwok, NM; Ha, QP; Fang, G

Sliding mode-PID approach for robust low-level control of a UGV

Tran, TH Nguyen, MT Kwok, NM Ha, QP

Fang, G

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Publication Type:: Conference Proceeding
Citation:: 2006 IEEE International Conference on Automation Science and Engineering, CASE, 2006, pp. 672 - 677
Issue Date:: 2006-01-01

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Field	Value	Language
dc.contributor.author	Tran, TH	en_US
dc.contributor.author	Nguyen, MT	en_US
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.contributor.author	Fang, G	en_US
dc.date.issued	2006-01-01	en_US
dc.identifier.citation	2006 IEEE International Conference on Automation Science and Engineering, CASE, 2006, pp. 672 - 677	en_US
dc.identifier.isbn	1424403103	en_US
dc.identifier.isbn	9781424403103	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2853
dc.description.abstract	This paper presents an efficient approach for low-level control of an unmanned ground vehicle (UGV) operating in rough terrains. In particular, it tackles with the problem of overshoot in the vehicle braking system that arises from severe nonlinearity and input time-delay. The resultant high-performance and robustness of the control system are achieved by cascading a sliding mode controller (SMC) in series with a conventional PID controller. The idea is based on modelling the system as a second order time-delay system under PID control while the SMC is incorporated to shape the control input for time-delay and nonlinearity compensation. An output predictor is also employed here to obtain the necessary information to realize the proposed controller. The validity of the proposed approach is verified through simulations for the braking system of UGVs developed at our Centre. ©2006 IEEE.	en_US
dc.relation.ispartof	2006 IEEE International Conference on Automation Science and Engineering, CASE	en_US
dc.relation.isbasedon	10.1109/COASE.2006.326963	en_US
dc.title	Sliding mode-PID approach for robust low-level control of a UGV	en_US
dc.type	Conference Proceeding
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Shanghai, China	en_US
dc.location.activity	Christchurch, New Zealand
dc.location.activity	Shanghai, PEOPLES R CHINA
pubs.embargo.period	Not known	en_US
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/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper presents an efficient approach for low-level control of an unmanned ground vehicle (UGV) operating in rough terrains. In particular, it tackles with the problem of overshoot in the vehicle braking system that arises from severe nonlinearity and input time-delay. The resultant high-performance and robustness of the control system are achieved by cascading a sliding mode controller (SMC) in series with a conventional PID controller. The idea is based on modelling the system as a second order time-delay system under PID control while the SMC is incorporated to shape the control input for time-delay and nonlinearity compensation. An output predictor is also employed here to obtain the necessary information to realize the proposed controller. The validity of the proposed approach is verified through simulations for the braking system of UGVs developed at our Centre. ©2006 IEEE.

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http://hdl.handle.net/10453/2853