Adaptive-Siding-Mode Disturbance-Observer-Based Control for Mobile Wheeled Robot System
- Resource Type
- Conference
- Authors
- Chen, Jinpeng; Xue, Fangzheng; Su, Xiaojie; Wang, Song
- Source
- 2023 35th Chinese Control and Decision Conference (CCDC) Control and Decision Conference (CCDC), 2023 35th Chinese. :3442-3446 May, 2023
- Subject
- General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Uncertain systems
Uncertainty
Trajectory tracking
Numerical simulation
Disturbance observers
Stability analysis
Trajectory
Adaptive siding mode disturbance observer (ASMDO)
Silding mode control
Mobile wheeled robot
- Language
- ISSN
- 1948-9447
The disturbance and physical parameter uncertainties of mobile wheeled robot(MWR) system are an important research topic during the trajectory tracking task. An adaptive siding mode disturbance observer (ASMDO) for the MWR system trajectory tracking task is proposed in this paper. Based on this ASMDO, a matching silding mode control is designed. The The convergence of ASMDO is proved and the stability and accuracy of the designed silding mode control is achieved our control task goal. Finally, the effectiveness of proposed methods are varified by numerical simulations.