Design and Implementation of Terminal Sliding Mode Controller for Tracking a Wheeled Mobile Robot

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Ramezanzadeh E.; RAHMANI Z.; Hassanghasemi M.

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Journal: Modares Mechanical Engineering Year:2019 | Volume:19 | Issue:12 Page(s): 2887-2894

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Information Journal Paper

Title

Design and Implementation of Terminal Sliding Mode Controller for Tracking a Wheeled Mobile Robot

Author(s)

Ramezanzadeh E. | RAHMANI Z. | Hassanghasemi M. | Issue Writer Certificate

Keywords

Nonholonomic SystemsQ1

Wheeled Mobile RobotQ1

Sliding Mode ControlQ1

Terminal SlidingQ1

Mode ControlQ1

Graphical SimulationQ1

Abstract

In this paper, a trajectory tracking control of a nonholonomic Wheeled Mobile Robot is proposed based on terminal Mode Control/fa?page=1&sort=1&ftyp=all&fgrp=all&fyrs=all" target="_blank">Sliding Mode Control, and the proposed method has been implemented on a Wheeled Mobile Robot. A Wheeled Mobile Robot is a nonlinear nonholonomic system, and it has three extended coordinates and a nonholonomic constraint. First, the equation of Wheeled Mobile Robot for the extended chained form is derived by transformation of the nonholonomic system equation to the extended chained form. Then a finite time Terminal Sliding mode approach for trajectory tracking control of the Wheeled Mobile Robot is presented. Afterward, with a Graphical Simulation environment which is applicable in the Matlab software, Graphical Simulations of Wheeled Mobile Robot’ s movement are done. The result of the Graphical Simulation in comparing with Mode Control/fa?page=1&sort=1&ftyp=all&fgrp=all&fyrs=all" target="_blank">Sliding Mode Control show the performance of the proposed method. Finally, the practical results of implementation of the controller for trajectory tracking of the Wheeled Mobile Robot is shown, and the results show good tracking performance of the proposed method.

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APA: Copy

Ramezanzadeh, E., RAHMANI, Z., & Hassanghasemi, M.. (2019). Design and Implementation of Terminal Sliding Mode Controller for Tracking a Wheeled Mobile Robot. MODARES MECHANICAL ENGINEERING, 19(12 ), 2887-2894. SID. https://sid.ir/paper/179122/en

Vancouver: Copy

Ramezanzadeh E., RAHMANI Z., Hassanghasemi M.. Design and Implementation of Terminal Sliding Mode Controller for Tracking a Wheeled Mobile Robot. MODARES MECHANICAL ENGINEERING[Internet]. 2019;19(12 ):2887-2894. Available from: https://sid.ir/paper/179122/en

IEEE: Copy

E. Ramezanzadeh, Z. RAHMANI, and M. Hassanghasemi, “Design and Implementation of Terminal Sliding Mode Controller for Tracking a Wheeled Mobile Robot,” MODARES MECHANICAL ENGINEERING, vol. 19, no. 12 , pp. 2887–2894, 2019, [Online]. Available: https://sid.ir/paper/179122/en

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