Double closed-loop integral sliding mode control of wheeled mobile robots with disturbances
作者单位：Institute of Electrical Engineering Yanshan University
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Wheeled mobile robot disturbance observer with Kalman filter(DKF) integral sliding mode trajectory tracking
摘 要：In this paper, the trajectory tracking problem is considered for a non-holonomic wheeled mobile robot（WMR） with non-random and random disturbances. A disturbance observer with Kalman filter（DKF） is designed to observe the velocity and the non-random disturbance of the system. An integral sliding mode controller is presented for asymptotically stabilizing the WMR to a desired trajectory. It is shown that the proposed scheme is robust to system perturbations and measurement noise. Simulation results confirm the validity of accurate tracking capability and the robust performance of the proposed scheme.