Nonlinear Disturbance Observer-Based Fuzzy Adaptive Finite-Time Dynamic Surface Formation Control of Tractor-Trailer Wheeled Mobile Robots

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

Kazemipour Malihe; Shojaei Khoshnam

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Journal of Control Year:2021 | Volume:15 | Issue:1 Page(s): 93-112

Download Full-Text

Persian Verion

View:

129

Download:

Cites:

Information Journal Paper

Title

Nonlinear Disturbance Observer-Based Fuzzy Adaptive Finite-Time Dynamic Surface Formation Control of Tractor-Trailer Wheeled Mobile Robots

Author(s)

Kazemipour Malihe | Shojaei Khoshnam | Issue Writer Certificate

Keywords

Adaptive fuzzy

disturbance observer

finite-time dynamic surface control

nonholonomic constraints

tractor-trailer robot

Abstract

In this paper, the trajectory tracking control problem for a team of nonholonomic tractor-trailer wheeled mobile robots has been investigated based on the leader-follower strategy in the presence of structural uncertainties and external disturbances. For this purpose, the kinematic and dynamic equations of the formation of tractor-trailer robots are presented and leader-follower's model is produced by defining the state error vector at first. Then, a nonlinear disturbance observer is designed by using the formation dynamic model to estimate and compensate the external disturbance and a new model of the system is obtained. In the following, a finite-time dynamic surface controller has been designed and presented by considering an observer-based model. The proposed scheme ensures closed-loop signals boundedness and fast convergence of tracking errors in a limited time. Furthermore, the parametric uncertainties are estimated by using a fuzzy adaptive estimator with a great accuracy. Finally, the finite time stability of the closed-loop control system is proved by Lyapunov theory and the effectiveness of proposed algorithm is shown by simulations.

Cites

No record.

References

No record.

Cite

APA: Copy

Kazemipour, Malihe, & Shojaei, Khoshnam. (2021). Nonlinear Disturbance Observer-Based Fuzzy Adaptive Finite-Time Dynamic Surface Formation Control of Tractor-Trailer Wheeled Mobile Robots. JOURNAL OF CONTROL, 15(1 ), 93-112. SID. https://sid.ir/paper/956608/en

Vancouver: Copy

Kazemipour Malihe, Shojaei Khoshnam. Nonlinear Disturbance Observer-Based Fuzzy Adaptive Finite-Time Dynamic Surface Formation Control of Tractor-Trailer Wheeled Mobile Robots. JOURNAL OF CONTROL[Internet]. 2021;15(1 ):93-112. Available from: https://sid.ir/paper/956608/en

IEEE: Copy

Malihe Kazemipour, and Khoshnam Shojaei, “Nonlinear Disturbance Observer-Based Fuzzy Adaptive Finite-Time Dynamic Surface Formation Control of Tractor-Trailer Wheeled Mobile Robots,” JOURNAL OF CONTROL, vol. 15, no. 1 , pp. 93–112, 2021, [Online]. Available: https://sid.ir/paper/956608/en

Related Journal Papers

No record.

Related Seminar Papers

No record.

Related Plans

No record.

Recommended Workshops