PROPORTIONAL INTEGRAL DERIVATIVE SLIDING MODE CONTROL  FOR AN OMNI-DIRECTIONAL MOBILE ROBOT

Trần Thị Thùy Trang; Phạm Thanh Tùng

doi:10.34238/tnu-jst.5460

PROPORTIONAL INTEGRAL DERIVATIVE SLIDING MODE CONTROL FOR AN OMNI-DIRECTIONAL MOBILE ROBOT

About this article

Received: 16/01/22 Revised: 25/04/22 Published: 26/04/22

Authors

1. Tran Thi Thuy Trang , Vinh Long University of Technology Education
2. Pham Thanh Tung, Vinh Long University of Technology Education

Abstract

A proportional integral derivative sliding mode control (PID-SMC) for an Omni-directional mobile robot is designed and evaluated in this article. This is one type of mobile robot that is the most widely used in industrial automation systems with many advantages, such as flexibility in movement patterns, have the ability to move freely in both directions. The PID-SMC is designed to ensure the robot’s actual trajectory tracks to the reference in a finite time and reduces the chattering phenomenon around the sliding surface. The stability of the system is proved using the Lyapunov stability theory. Simulation results in MATLAB/Simulink show the effectiveness of the proposed controller with the overshoot, the rising time, the settling time of x_wis 1.963(%), 0.045±0.001(s), 0.28(s) and y_wis 0.505(%), 0.160±0.001(s), 0.231(s), the steady state error converges to zero and the chattering is reduced.

Keywords

Sliding mode control; PID; Omni-directional mobile robot; Chattering; MATLAB/Simulink

Full Text:

PDF (Tiếng Việt)

References

[1] X. Liu, X. Yang, F. Hu, A. Jiang, and C. Yang, “Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy,” Applied Sciences, vol. 8, no. 2, pp. 1-15, 2018.

[2] A. Mehmood, I. U. H. Shaikh, and A. Ali, “Application of Deep Reinforcement Learning for Tracking Control of 3WD Omnidirectional Mobile Robot,” Information Technology and Control, vol. 50, no. 3, pp. 507-521, 2021.

[3] R. Yunardi, D. Arifianto, F. Bachtiar, and J. Prananingrum, “Holonomic Implementation of Three Wheels Omnidirectional Mobile Robot using DC Motors,” Journal of Robotics and Control (JRC), vol. 2, no. 2, pp. 65-71, 2021.

[4] M. Kawtharani, V. Fakhari, and M. R. Haghjoo, “Tracking Control of an Omni-Directional Mobile Robot,” International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2020, pp. 1-8.

[5] J. Palacín, R. Elena, C. Eduard, and D. Martínez, “Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant,” Sensors, vol. 21, no. 21, pp. 1-19, 2021.

[6] S. M. Hu, H. Y. Chen, and Y. Shao, “Triangular Omnidirectional Wheel Motion Control System,” Open Access Library Journal, vol. 7, no. 8, pp. 1-8, 2020.

[7] A. S. Andreev and O. A. Peregudova, “On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass,” Russian Journal of Nonlinear Dynamics, vol. 16, no. 1, pp. 115-131, 2020.

[8] F. Pang, M. Luo, X. Xu, and Z.Tan, “Path Tracking Control of an Omni-Directional Service Robot Based on Model Predictive Control of Adaptive Neural-Fuzzy Inference System,” Applied Sciences, vol. 11, no. 2, pp. 1-8, 2021.

[9] O. Peñaloza-Mejía, L. A. Márquez-Martínez, J. Alvarez, M. G. Villarreal-Cervantes, and R. García-Hernández, “Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints,” Mathematical Problems in Engineering, vol. 2015, pp. 1-16, 2015.

[10] P. Vernekar and V. S. Bandal, “Robust Sliding Mode Control of a Magnetic Levitation System: Continuous-Time and Discrete-Time Approaches,” ArXiv, vol. abs/2110.12363, pp. 1-14, 2021.

[11] T. Zarma, S. Thomas, and A. Galadima, “Methods of Chattering Reduction in Sliding Mode Control: A Case Study of Ball and Plate System,” IEEE 7th International Conference on Adaptive Science & Technology (ICAST), 2018, pp. 1-9.

[12] L. Guo, H. Zhao, and Y. Song, “A Nearly Optimal Chattering Reduction Method of Sliding Mode Control with an Application to a Two-wheeled Mobile Robot,” ArXiv, vol. abs/2110.12706, pp. 1-20, 2021.

[13] J. -S. Fang, J. S.-H. Tsai, J.-J. Yan, and S.-M. Guo, “Adaptive Chattering-Free Sliding Mode Control of Chaotic Systems with Unknown Input Nonlinearity via Smooth Hyperbolic Tangent Function,” Mathematical Problems in Engineering, vol. 2019, no. 6, pp. 1-9, 2019.

[14] L. Wan, G. Chen, M. Sheng, Y. Zhang, and Z. Zhang, “Adaptive chattering-free terminal sliding-mode control for full-order nonlinear system with unknown disturbances and model uncertainties,” International Journal of Advanced Robotic Systems, vol. 17, no. 3, pp. 1-11, 2020.

[15] A. Can, H. Efstathiades, and A. Montazeri, “Desing of a Chattering-Free Sliding Mode Control System for Robust Position Control of a Quadrotor,” International Conference Nonlinearity, Information and Robotics (NIR), 2020, pp. 1-6.

[16] K. Watanabe, “Control of an Omni-directional mobile robot,” Second International Conference. Knowledge-Based Intelligent Electronic Systems. Proceedings KES'98 (Cat. No.98EX111), vol. 1, 1998, pp. 51-60.

[17] J. Liu and X. Wang, Advanced Sliding Mode Control for Mechanical Systems. Springer, 2012.

[18] I. Mukherjee and S. Routroy, “Comparing the performance of neural networks developed by using Levenberg-Marquardt and Quasi-Newton with the gradient descent algorithm for modelling a multiple response grinding process,” Expert Syst. Appl, vol. 39, no. 3, pp. 2397-2407, 2012.

DOI: https://doi.org/10.34238/tnu-jst.5460

Refbacks

There are currently no refbacks.



Remember me