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- Title
Trajectory Tracking Control with Soft Switching based on Antislip Sliding Mode for High-clearance Mobile Robot.
- Authors
Na Wang; Erbao Peng; Chuansheng Tang; Chaojun Wang; Jie Yang
- Abstract
The trajectory tracking accuracy of high-clearance mobile robots could be affected by phenomena such as wheel slippage caused by changes in the working surface material and motion state. To reveal the impact of slippage factor and improve the tracking precision of wheeled mobile robots, this study proposed a sliding mode of trajectory tracking control with soft switching. Considering the slippage working environment of mobile robots, a three-degrees-of-freedom kinematic model of mobile robots containing slip rate was established. Based on the kinematic model of the system, a trajectory tracking controller utilizing soft switching sliding mode control was developed, followed by a comprehensive stability analysis. The MATLAB platform was utilized to verify the circular trajectory tracking performance of the mobile robot under both slipping and nonslipping conditions. Results demonstrate that: (1) Under ideal conditions (disregarding wheel slippage), the sliding mode tracker based on model design quickly achieves high-precision tracking of the robot's trajectory, with the tracking error controlled at 0.002 m within 0.6 s in a circular trajectory, capable of adjusting and tracking the desired circular trajectory in a short time and maintaining consistent posture. (2) When considering the effect of slippage, the uncompensated sliding mode control produces a larger periodic tracking error (the amplitude of the circular trajectory reaches 0.065 m) and a larger direction angle error at the trough of the lateral position, causing a sudden change in the direction angle. Nevertheless, the proposed sliding compensation in this study can improve its accuracy by about twice, with the tracking error controlled around 0.03 m in circular trajectories, effectively improving the system's tracking accuracy. This study expands the working environment of mobile robots and provides a basis for their high-performance operation in complex environments.
- Subjects
SLIDING mode control; MOBILE robots; MULTI-degree of freedom; SURFACES (Technology); ROBOTS; POSTURE
- Publication
Journal of Engineering Science & Technology Review, 2024, Vol 17, Issue 4, p210
- ISSN
1791-2377
- Publication type
Article
- DOI
10.25103/jestr.174.23