Search

In this chapter, the problem of trajectory tracking control of DWMRs based only on their kinematic model, described in rectangular coordinates, is investigated taking into account uncertainties and disturbances during its movement, so that the statement of perfect velocity tracking is not maintained in practice. Thus, in front of such scenario, controller variants based on sliding mode control theory (SMC) are used to provide robustness.

To verify the performance of the controllers treated in this book, they are implemented and evaluated for the trajectory tracking control problem in simulation and in real experiments. This chapter describes the simulation and experimental environments, dealing with the implementation design considering data and information from the PowerBot DWMR, the trajectory adopted, as well as the ideal, realistic, and experimental scenarios.

In this chapter, a first-order quasi-sliding mode control (FOQSMC) are developed intending to mitigate the chattering phenomenon. The stability analysis of this controller, using Lyapunov theory, is presented as well as the effectiveness of the controller variants is verified through simulations and experiments.

In this chapter, the theoretical foundation on control problems and systems are reviewed. The concepts of trajectory tracking problem, PD dynamic control, posture error dynamics, robustness considerations, and generic model for nonlinear systems are introduced. All these concepts are used throughout the book.

In this chapter, to attenuate the chattering phenomenon, the discontinuous term of the controllers in Chap. 5 is replaced by single-input single-output (SISO) radial basis function neural networks (RBFNNs), which are non-linear and continuous functions, thus resulting in adaptive neural sliding mode control (ANSMC). And, to relax the demands of knowing the bounds of the uncertainties and disturbances suffered by the system, the output layer weights of the RBFNNs are updated online to compensate for these uncertainties and disturbances as well as to guarantee the stability of the system without any prior knowledge of them and its bounds.

In this chapter, the kinematic and dynamic DWMR models used in the course of the book are presented for ease of understanding. This models take into account mobility constraints and only conventional fixed wheels. These models of the DWMR are used as the basis for the synthesis of the controllers and the simulations.

This chapter aims to describe leader-follower formation controllers based on SMC applied to DWMRs that are robust to the incidence of uncertainties and disturbances in solving the trajectory tracking control problem. To ensure this, the FOSMC-B discussed in Chap. 5 is used, however, this controller causes the chattering phenomenon, and to mitigate it the FOQSMC-B and AFSMC-A treated in Chaps. 6 and 7 respectively are also used. Moreover, stability analyzes of the closed-loop control system are guaranteed based on the Lyapunov theory, and simulation results in the ideal and realistic scenarios are explored to confirm the effectiveness of used leader-follower formation control strategies.