<abstract xmlns="http://www.w3.org/1999/xhtml"><p>Since there are usually parameter uncertainties and influence of the exogenous disturbances on the dynamic model of a four-wheel omni-directional mobile robot (FOMR), the traditional strategy for motion control has not good performance. A sliding mode control based on an adaptive approach and a filter (AFSMC) is presented in this paper. First, according to identifying the reaching gain by a Radial Basis Function based neural network, and combining a filter, AFSMC can reduce the inherent impact that is produced by the normal sliding mode control. Second, the adaptive approach is applied to deal with the uncertainties and the influence of exogenous disturbances. Numerical simulations are carried out to assess the performance of the controller. All the simulation results indicate that the proposed control strategy is efficient to solve the problem.</p></abstract>

Since there are usually parameter uncertainties and influence of the exogenous disturbances on the dynamic model of a four-wheel omni-directional mobile robot (FOMR), the traditional strategy for motion control has not good performance. A sliding mode control based on an adaptive approach and a filter (AFSMC) is presented in this paper. First, according to identifying the reaching gain by a Radial Basis Function based neural network, and combining a filter, AFSMC can reduce the inherent impact that is produced by the normal sliding mode control. Second, the adaptive approach is applied to deal with the uncertainties and the influence of exogenous disturbances. Numerical simulations are carried out to assess the performance of the controller. All the simulation results indicate that the proposed control strategy is efficient to solve the problem.

Adaptive Sliding Mode Control Based on a Filter for Four-Wheel Omni-Directional Mobile Robots

School of Computer Science, Zhaoqing University, Zhaoqing 526061, Guangdong, China

School of Automation, Guangdong University of Technology, Guangzhou 510090, China

School of Electronic Information and Mechnical & Electrical Engineering, Zhaoqing University, Zhaoqing 526061, Guangdong, China

Cybernetics and Information Technologies

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Since there are usually parameter uncertainties and influence of the exogenous disturbances on the dynamic model of a four-wheel omni-directional mobile robot...

Adaptive Sliding Mode Control Based on a Filter for Four-Wheel Omni-Directional Mobile Robots

Publié en ligne: 15 juil. 2014

Pages: 140 - 153

DOI: https://doi.org/10.2478/cait-2014-0026

Mots clés
Four-wheel drive, omni-directional mobile robot, adaptive sliding mode, filter

© 2014 Jianping Chen et. al.

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Adaptive Sliding Mode Control Based on a Filter for Four-Wheel Omni-Directional Mobile Robots

Publié en ligne: 15 juil. 2014

Pages: 140 - 153

DOI: https://doi.org/10.2478/cait-2014-0026

Mots clésFour-wheel drive, omni-directional mobile robot, adaptive sliding mode, filter

© 2014 Jianping Chen et. al.

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Mots clés
Four-wheel drive, omni-directional mobile robot, adaptive sliding mode, filter