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Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure
Wireless Communications and Mobile Computing ( IF 2.146 ) Pub Date : 2021-06-18 , DOI: 10.1155/2021/2974839
Hua Cen 1 , Bhupesh Kumar Singh 2
Affiliation  

Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

中文翻译:

基于改进滑模变结构的非完整轮式移动机器人轨迹跟踪控制

基于轮式移动机器人的控制进行了多项研究。与轮式移动机器人相关的非完整约束促进了高度非线性控制技术的发展。根据应用要求,非完整轮式移动机器人系统可能会承受大量有效载荷。这可以静态或动态地影响整个系统质量、惯性、质心位置和其他硬件约束。由于轮式移动机器人的非完整和运动受限特性,轨迹跟踪控制精度较差。因此正在探索非完整轮式移动机器人跟踪系统。分析了运动学模型和滑模控制模型,采用基于滑模的增强变结构对机器人进行轨迹跟踪控制。设计了剪切和滑模控制,并审查了控制稳定性,以控制非完整轮式移动机器人的轨迹。仿真结果表明,投影轨迹轨迹控制技术能够提高移动机器人的控制能力,位姿误差小,线速度和角速度可控。以线速度和角速度作为预测轨迹。仿真结果表明,投影轨迹轨迹控制技术能够提高移动机器人的控制能力,位姿误差小,线速度和角速度可控。以线速度和角速度作为预测轨迹。仿真结果表明,投影轨迹轨迹控制技术能够提高移动机器人的控制能力,位姿误差小,线速度和角速度可控。以线速度和角速度作为预测轨迹。
更新日期:2021-06-18
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