Disturbance Observer-based Discrete-time Sliding Mode Tracking Control for Nonholonomic Robots

Yanye Hao; Tao Mei; Na Zhang; Ganghui Shen; Jia Xu; Zhiqiang Ma

doi:10.1109/IECON51785.2023.10312616

Disturbance Observer-based Discrete-time Sliding Mode Tracking Control for Nonholonomic Robots

Yanye Hao, Tao Mei, Na Zhang, Ganghui Shen, Jia Xu, Zhiqiang Ma

School of Astronautics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper develops a disturbance observer-based discrete-time sliding mode control (DOB-DSMC) method to address the trajectory tracking problem for nonholonomic robots subject to disturbances. Firstly, a reduced-dimensional tracking error system is derived to overcome the disadvantage of the underactuated robot system. In the light of reduced-dimensional system, a disturbance observer is studied to estimate and compensate for disturbances. Then, inspired by the continuous terminal sliding mode surface, a novel discrete-time terminal sliding surface is designed. Further, the arctangent function is inducted to improve the tracking accuracy and attenuate the chattering phenomenon. Moreover, the asymptotic stability of system is proved via the Lyapunov method. Finally, the effectiveness of the exploited algorithm is verified by a numerical simulation.

Original language	English
Title of host publication	IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
ISBN (Electronic)	9798350331820
DOIs	https://doi.org/10.1109/IECON51785.2023.10312616
State	Published - 2023
Event	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 - Singapore, Singapore Duration: 16 Oct 2023 → 19 Oct 2023

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
ISSN (Print)	2162-4704
ISSN (Electronic)	2577-1647

Conference

Conference	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Country/Territory	Singapore
City	Singapore
Period	16/10/23 → 19/10/23

Keywords

Discrete-time sliding mode control
Disturbance observer
Nonholo-nomic robots
Trajectory tracking

Access to Document

10.1109/IECON51785.2023.10312616

Cite this

Hao, Y., Mei, T., Zhang, N., Shen, G., Xu, J., & Ma, Z. (2023). Disturbance Observer-based Discrete-time Sliding Mode Tracking Control for Nonholonomic Robots. In IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON51785.2023.10312616

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title = "Disturbance Observer-based Discrete-time Sliding Mode Tracking Control for Nonholonomic Robots",

abstract = "This paper develops a disturbance observer-based discrete-time sliding mode control (DOB-DSMC) method to address the trajectory tracking problem for nonholonomic robots subject to disturbances. Firstly, a reduced-dimensional tracking error system is derived to overcome the disadvantage of the underactuated robot system. In the light of reduced-dimensional system, a disturbance observer is studied to estimate and compensate for disturbances. Then, inspired by the continuous terminal sliding mode surface, a novel discrete-time terminal sliding surface is designed. Further, the arctangent function is inducted to improve the tracking accuracy and attenuate the chattering phenomenon. Moreover, the asymptotic stability of system is proved via the Lyapunov method. Finally, the effectiveness of the exploited algorithm is verified by a numerical simulation.",

keywords = "Discrete-time sliding mode control, Disturbance observer, Nonholo-nomic robots, Trajectory tracking",

author = "Yanye Hao and Tao Mei and Na Zhang and Ganghui Shen and Jia Xu and Zhiqiang Ma",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 ; Conference date: 16-10-2023 Through 19-10-2023",

year = "2023",

doi = "10.1109/IECON51785.2023.10312616",

language = "英语",

series = "IECON Proceedings (Industrial Electronics Conference)",

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booktitle = "IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society",

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Hao, Y, Mei, T, Zhang, N, Shen, G, Xu, J & Ma, Z 2023, Disturbance Observer-based Discrete-time Sliding Mode Tracking Control for Nonholonomic Robots. in IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023, Singapore, Singapore, 16/10/23. https://doi.org/10.1109/IECON51785.2023.10312616

Disturbance Observer-based Discrete-time Sliding Mode Tracking Control for Nonholonomic Robots. / Hao, Yanye; Mei, Tao; Zhang, Na et al.
IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2023. (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Disturbance Observer-based Discrete-time Sliding Mode Tracking Control for Nonholonomic Robots

AU - Hao, Yanye

AU - Mei, Tao

AU - Zhang, Na

AU - Shen, Ganghui

AU - Xu, Jia

AU - Ma, Zhiqiang

PY - 2023

Y1 - 2023

N2 - This paper develops a disturbance observer-based discrete-time sliding mode control (DOB-DSMC) method to address the trajectory tracking problem for nonholonomic robots subject to disturbances. Firstly, a reduced-dimensional tracking error system is derived to overcome the disadvantage of the underactuated robot system. In the light of reduced-dimensional system, a disturbance observer is studied to estimate and compensate for disturbances. Then, inspired by the continuous terminal sliding mode surface, a novel discrete-time terminal sliding surface is designed. Further, the arctangent function is inducted to improve the tracking accuracy and attenuate the chattering phenomenon. Moreover, the asymptotic stability of system is proved via the Lyapunov method. Finally, the effectiveness of the exploited algorithm is verified by a numerical simulation.

AB - This paper develops a disturbance observer-based discrete-time sliding mode control (DOB-DSMC) method to address the trajectory tracking problem for nonholonomic robots subject to disturbances. Firstly, a reduced-dimensional tracking error system is derived to overcome the disadvantage of the underactuated robot system. In the light of reduced-dimensional system, a disturbance observer is studied to estimate and compensate for disturbances. Then, inspired by the continuous terminal sliding mode surface, a novel discrete-time terminal sliding surface is designed. Further, the arctangent function is inducted to improve the tracking accuracy and attenuate the chattering phenomenon. Moreover, the asymptotic stability of system is proved via the Lyapunov method. Finally, the effectiveness of the exploited algorithm is verified by a numerical simulation.

KW - Discrete-time sliding mode control

KW - Disturbance observer

KW - Nonholo-nomic robots

KW - Trajectory tracking

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Y2 - 16 October 2023 through 19 October 2023

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Disturbance Observer-based Discrete-time Sliding Mode Tracking Control for Nonholonomic Robots

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