In this paper, a differential sliding mode tracking controller (DSMC) using voltage input is designed for trajectory tracking of the three-wheeled omnidirectional mobile platform (OMP) based on its dynamic modeling with disturbances. First, a tracking error vector is defined, and then a differential sliding surface vector is chosen. A control law is obtained by using Lyapunov direct method with backstepping technique. The control law stabilizes the sliding surface vector and makes the tracking error vector go to zero asymptotically. To implement the designed controllers, a control system is developed based on PIC microcontroller. A camera sensor and encoders are used. The simulation and experiment results are presented to illustrate effectiveness of the proposed controller.
In this paper, a new tracking controller that integrates a kinematic controller (KC) with an integral sliding mode dynamic controller (ISMC) is designed for an omnidirectional mobile platform (OMP) to track a desired trajectory at a desired velocity. First, a posture tracking error vector is defi...
This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the di...
This paper presents an intelligent control approach that incorporates sliding mode control (SMC) and fuzzy neural network (FNN) into the implementation of back-stepping control for a path tracking problem of a dual-arm wheeled mobile manipulator subject to dynamic uncertainties and nonholonomic c...
In this paper, the adaptive tracking control problem for a class of switched affine nonlinear systems is investigated. We employ RBF neural networks (RBF NNs) to approximate unknown nonlinear functions. Due to the existence of approximation errors of the neural networks and external disturbance, ...
Hydraulic servo control systems have been used widely in industry. Within the realm of hydraulic control systems, conventional hydraulic valve-controlled systems have higher response and lower energy efficiency, whereas hydraulic displacement-controlled servo systems have higher energy efficiency...
The primary intention of this paper is to apply a quantitative feedback theory (QFT) controller for boiler pressure inside the Mashhad power plant system. The importance of controlling this boiler pressure is associated from several factors such as uncertain mathematical model of boiler pressure ...
In this paper, we solve the problem of output tracking for linear uncertain systems in the presence of unknown actuator failures using discontinuous projection-based output feedback adaptive robust control (ARC). The faulty actuators are characterized as unknown inputs stuck at unknown values exp...
This study describes an X–Y platform driven by SMAs. The advantages of this platform are a simple mechanism design, low power consumption, and low cost. Unlike servo motor control, SMA can undergo thermoelastic martensitic transformation through increases in temperature above a certain leve...
In order to solve the uncertainties in the position servo system, caused by servo system without modeling accurately, which may cause the deterioration of the control quality of the electro-hydraulic position servo system (EHPSS) and even lead to its instability, a dynamic sliding mode control st...
The typical dynamic path following method presents a systematic framework for nonholonomic mobile robot and exhibits excellent tracking performance in simulations and experiments. However, it fails to converge the position and pose simultaneously for spherical robot with a 2 DOFs pendulum. This p...
