Araştırma Makalesi
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Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot

Yıl 2018, Cilt: 6 Sayı: 4, 211 - 216, 28.10.2018
https://doi.org/10.17694/bajece.459568

Öz

In this study, real-time trajectory tracking
control of an autonomous mobile robot, actuated by two DC motors, has been
designed, analyzed and studied. Two different control approaches such as model
based sliding mode (SMC) and the classical proportional–integral–derivative
(PID) control are employed to increase the tracking performance of the mobile
robot. A model based SMC technique has been presented in order to consider the
complete dynamic model of the robot and in order to increase trajectory
tracking performance of the system. The experimental outcomes strongly verified
that the proposed controller gives a quite well trajectory tracking response
and smaller magnitude overshot
compared with the classical PID controller.

Kaynakça

  • Referans1 N. Uchiyama, T. Hashimoto, S. Sano and S. Takagi, "Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot," in IEEE Transactions on Industrial Electronics, vol. 56, no. 10, pp. 3892-3896, Oct. 2009.
  • Referans 2 M. Makarov, M. Grossard, P. Rodríguez-Ayerbe and D. Dumur, "Modeling and Preview$H_\infty$Control Design for Motion Control of Elastic-Joint Robots With Uncertainties," in IEEE Transactions on Industrial Electronics, vol. 63, no. 10, pp. 6429-6438, Oct. 2016.
  • Referans 3 S. Li, Y. Zhang and L. Jin, "Kinematic Control of Redundant Manipulators Using Neural Networks," in IEEE Transactions on Neural Networks and Learning Systems, vol. 28, no. 10, pp. 2243-2254, Oct. 2017.
  • Referans 4 Y. Zhang, S. Chen, S. Li and Z. Zhang, "Adaptive Projection Neural Network for Kinematic Control of Redundant Manipulators With Unknown Physical Parameters," in IEEE Transactions on Industrial Electronics, vol. 65, no. 6, pp. 4909-4920, June 2018.
  • Referans 5 Z. Hou, A. Zou, L. Cheng and M. Tan, "Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach," in IEEE Transactions on Control Systems Technology, vol. 17, no. 4, pp. 803-815, July 2009.
  • Referans 6 D. Chwa, "Fuzzy Adaptive Tracking Control of Wheeled Mobile Robots With State-Dependent Kinematic and Dynamic Disturbances," in IEEE Transactions on Fuzzy Systems, vol. 20, no. 3, pp. 587-593, June 2012.
  • Referans 7 A. Rojas-Moreno and G. Perez-Valenzuela, "Fractional order tracking control of a wheeled mobile robot," 2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON), Cusco, 2017, pp. 1-4.
  • Referans 8 Y. Zhao, N. Chen and Y. Tai, "Trajectory tracking control of wheeled mobile robot based on fractional order backstepping," 2016 Chinese Control and Decision Conference (CCDC), Yinchuan, 2016, pp. 6730-6734.
  • Referans 9 T. Chen, B. Dai, J. Song and L. Zhou, "On lateral fractional order controller in auto-parking system," Proceedings of the 30th Chinese Control Conference, Yantai, 2011, pp. 3429-3434.
  • Referans 10 V. Utkin, "Variable structure systems with sliding modes," in IEEE Transactions on Automatic Control, vol. 22, no. 2, pp. 212-222, April 1977.
  • Referans 11 C. -. Su, T. -. Leung and Y. Stepanenko, "Real-time implementation of regressor-based sliding mode control algorithm for robotic manipulators," in IEEE Transactions on Industrial Electronics, vol. 40, no. 1, pp. 71-79, Feb. 1993.
  • Referans 12 L. M. Capisani and A. Ferrara, "Trajectory Planning and Second-Order Sliding Mode Motion/Interaction Control for Robot Manipulators in Unknown Environments," in IEEE Transactions on Industrial Electronics, vol. 59, no. 8, pp. 3189-3198, Aug. 2012.
  • Referans 13 J. Baek, M. Jin and S. Han, "A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators," in IEEE Transactions on Industrial Electronics, vol. 63, no. 6, pp. 3628-3637, June 2016.
  • Referans 14 F. Zhang, "High-speed nonsingular terminal switched sliding mode control of robot manipulators," in IEEE/CAA Journal of Automatica Sinica, vol. 4, no. 4, pp. 775-781, 2017.
  • Referans 15 M. Van, S. S. Ge and H. Ren, "Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control," in IEEE Transactions on Cybernetics, vol. 47, no. 7, pp. 1681-1693, July 2017.
  • Referans 16 J. Lee, P. H. Chang and M. Jin, "Adaptive Integral Sliding Mode Control With Time-Delay Estimation for Robot Manipulators," in IEEE Transactions on Industrial Electronics, vol. 64, no. 8, pp. 6796-6804, Aug. 2017.
Yıl 2018, Cilt: 6 Sayı: 4, 211 - 216, 28.10.2018
https://doi.org/10.17694/bajece.459568

Öz

Kaynakça

  • Referans1 N. Uchiyama, T. Hashimoto, S. Sano and S. Takagi, "Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot," in IEEE Transactions on Industrial Electronics, vol. 56, no. 10, pp. 3892-3896, Oct. 2009.
  • Referans 2 M. Makarov, M. Grossard, P. Rodríguez-Ayerbe and D. Dumur, "Modeling and Preview$H_\infty$Control Design for Motion Control of Elastic-Joint Robots With Uncertainties," in IEEE Transactions on Industrial Electronics, vol. 63, no. 10, pp. 6429-6438, Oct. 2016.
  • Referans 3 S. Li, Y. Zhang and L. Jin, "Kinematic Control of Redundant Manipulators Using Neural Networks," in IEEE Transactions on Neural Networks and Learning Systems, vol. 28, no. 10, pp. 2243-2254, Oct. 2017.
  • Referans 4 Y. Zhang, S. Chen, S. Li and Z. Zhang, "Adaptive Projection Neural Network for Kinematic Control of Redundant Manipulators With Unknown Physical Parameters," in IEEE Transactions on Industrial Electronics, vol. 65, no. 6, pp. 4909-4920, June 2018.
  • Referans 5 Z. Hou, A. Zou, L. Cheng and M. Tan, "Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach," in IEEE Transactions on Control Systems Technology, vol. 17, no. 4, pp. 803-815, July 2009.
  • Referans 6 D. Chwa, "Fuzzy Adaptive Tracking Control of Wheeled Mobile Robots With State-Dependent Kinematic and Dynamic Disturbances," in IEEE Transactions on Fuzzy Systems, vol. 20, no. 3, pp. 587-593, June 2012.
  • Referans 7 A. Rojas-Moreno and G. Perez-Valenzuela, "Fractional order tracking control of a wheeled mobile robot," 2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON), Cusco, 2017, pp. 1-4.
  • Referans 8 Y. Zhao, N. Chen and Y. Tai, "Trajectory tracking control of wheeled mobile robot based on fractional order backstepping," 2016 Chinese Control and Decision Conference (CCDC), Yinchuan, 2016, pp. 6730-6734.
  • Referans 9 T. Chen, B. Dai, J. Song and L. Zhou, "On lateral fractional order controller in auto-parking system," Proceedings of the 30th Chinese Control Conference, Yantai, 2011, pp. 3429-3434.
  • Referans 10 V. Utkin, "Variable structure systems with sliding modes," in IEEE Transactions on Automatic Control, vol. 22, no. 2, pp. 212-222, April 1977.
  • Referans 11 C. -. Su, T. -. Leung and Y. Stepanenko, "Real-time implementation of regressor-based sliding mode control algorithm for robotic manipulators," in IEEE Transactions on Industrial Electronics, vol. 40, no. 1, pp. 71-79, Feb. 1993.
  • Referans 12 L. M. Capisani and A. Ferrara, "Trajectory Planning and Second-Order Sliding Mode Motion/Interaction Control for Robot Manipulators in Unknown Environments," in IEEE Transactions on Industrial Electronics, vol. 59, no. 8, pp. 3189-3198, Aug. 2012.
  • Referans 13 J. Baek, M. Jin and S. Han, "A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators," in IEEE Transactions on Industrial Electronics, vol. 63, no. 6, pp. 3628-3637, June 2016.
  • Referans 14 F. Zhang, "High-speed nonsingular terminal switched sliding mode control of robot manipulators," in IEEE/CAA Journal of Automatica Sinica, vol. 4, no. 4, pp. 775-781, 2017.
  • Referans 15 M. Van, S. S. Ge and H. Ren, "Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control," in IEEE Transactions on Cybernetics, vol. 47, no. 7, pp. 1681-1693, July 2017.
  • Referans 16 J. Lee, P. H. Chang and M. Jin, "Adaptive Integral Sliding Mode Control With Time-Delay Estimation for Robot Manipulators," in IEEE Transactions on Industrial Electronics, vol. 64, no. 8, pp. 6796-6804, Aug. 2017.
Toplam 16 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Mühendislik
Bölüm Araştırma Makalesi
Yazarlar

Ahmet Dumlu 0000-0002-2181-5386

Mehmet Rasim Yıldırım Bu kişi benim

Yayımlanma Tarihi 28 Ekim 2018
Yayımlandığı Sayı Yıl 2018 Cilt: 6 Sayı: 4

Kaynak Göster

APA Dumlu, A., & Yıldırım, M. R. (2018). Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot. Balkan Journal of Electrical and Computer Engineering, 6(4), 211-216. https://doi.org/10.17694/bajece.459568

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