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Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection

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Abstract

In this paper, an adaptive terminal sliding mode control scheme for an omnidirectional mobile robot is proposed as a robust solution to the trajectory tracking control problem. The omnidirectional mobile robot has a double-frame structure, which adsorbes on the aircraft surface by suction cups. The major difficulties lie in the existence of nonholonomic constraints, system uncertainty and external disturbance. To overcome these difficulties, the kinematic model is established, the dynamic model is derived by using Lagrange method. Then, a robust adaptive terminal sliding mode (RATSM) control scheme is proposed to solve the problem of state stabilization and trajectory tracking. In order to enhance the robustness of the system, an adaptive online estimation law is designed to overcome the total uncertainty. Subsequently, the asymptotic stability of the system without total uncertainty is proved with basis on Lyapunov theory, and the system considering total uncertainty can converge to the domain containing the origin. Simulation results are given to show the verification and validation of the proposed control scheme.

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Authors and Affiliations

  1. College of Automation Engineering of Nanjing University of Aeronautics and Astronautics, Nanjing, China

    Xingkai Feng & Congqing Wang

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  1. Xingkai Feng
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  2. Congqing Wang
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Correspondence to Congqing Wang.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Takahiro Endo under the direction of Editor Myo Taeg Lim. This work is supported by the National Natural Science Foundation of China, NO. 61573185 and JiangSu Scientific Support Program of China, No. BE2010190. The authors would like to thank the anonymous referees and the editor for their valuable comments and suggestions leading to an improvement of this article. The authors declare that there is no conflict of interest.

Xingkai Feng is currently a Ph.D. candidate in the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interests include nonlinear system control, sliding mode control, multi-agent system control and advanced flight control.

Congqing Wang received his Ph.D. degree from Beijing University of Science and Technology in 1995. He is a Professor in the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interests are in the areas of robotics, pattern recognition, intelligent control.

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Feng, X., Wang, C. Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection. Int. J. Control Autom. Syst. 19, 1078–1088 (2021). https://doi.org/10.1007/s12555-020-0026-4

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  • DOI: https://doi.org/10.1007/s12555-020-0026-4

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