Title: Simulation results and practical implementation of a PD-super-twisting second order sliding mode tracking control for a differential wheeled mobile robot

Authors: Ebrahim Samer Elyoussef; Nardênio Almeida Martins; Douglas Wildgrube Bertol; Edson Roberto De Pieri; Ubirajara Franco Moreno

Addresses: Control, Automation, Robotics and Systems Research Group, Federal University of Santa Catarina, Blumenau, Santa Catarina, Brazil ' Robotics Research Group, Department of Automation and Systems, Federal University of Santa Catarina, Florianópolis, Santa Catarina, Brazil; Postgraduate Program in Computer Science, Department of Informatics, State University of Maringá, Maringá, Paraná, Brazil ' Systems Automation and Robotics Group, Department of Electrical Engineering, University of the State of Santa Catarina, Joinville, Santa Catarina, Brazil ' Robotics Research Group, Department of Automation and Systems, Federal University of Santa Catarina, Florianópolis, Santa Catarina, Brazil ' Robotics Research Group, Department of Automation and Systems, Federal University of Santa Catarina, Florianópolis, Santa Catarina, Brazil

Abstract: A robust solution to the trajectory tracking control problem for a differential wheeled mobile robot should deal with the existence of parametric and structural uncertainties, external disturbances, and operation limitations. The first order sliding mode control with a boundary layer is a common and suitable solution that can ensure chattering attenuation but with a poor degree of robustness. Fortunately, higher-order sliding mode control can achieve a greater degree of robustness with the reduction of the chattering phenomenon. Based on this knowledge, a control strategy is proposed using a super-twisting sliding mode control, which enforces a second-order sliding mode, integrated with a proportional plus derivative control to solve the problem of achieving good robustness. This linear control technique plays an important role in increasing the robustness by mitigating the influence of neglected dynamics. Simulation and experimental results are explored to prove the effectiveness of the proposed control strategy.

Keywords: differential wheeled mobile robot; trajectory tracking; sliding mode control; PD control; chattering attenuation; uncertainties; disturbances.

DOI: 10.1504/IJCAT.2020.109339

International Journal of Computer Applications in Technology, 2020 Vol.63 No.3, pp.213 - 227

Received: 22 Jan 2019
Accepted: 18 Jan 2020
Published online: 03 Sep 2020 *

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