Adaptive super-twisting sliding mode control for mobile robots based on high-gain observers (Q1996529)
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scientific article; zbMATH DE number 7315703
| Language | Label | Description | Also known as |
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| English | Adaptive super-twisting sliding mode control for mobile robots based on high-gain observers |
scientific article; zbMATH DE number 7315703 |
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Adaptive super-twisting sliding mode control for mobile robots based on high-gain observers (English)
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25 February 2021
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Summary: In this paper, a robust adaptive output feedback control strategy based on a sliding mode super-twisting algorithm is designed for the trajectory tracking control of a wheeled mobile robot. First, a robust adaptive law is designed to eliminate the influence of parameter uncertainties. Second, a double-power sliding mode surface is designed to improve the response speed of the robot system. Finally, a high-gain observer is employed to estimate the speed information. The stability of the closed-loop system is proved using the Lyapunov stability theorem. The effectiveness of the proposed control strategy is verified by simulation.
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robust adaptive output feedback control
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sliding mode super-twisting algorithm
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Lyapunov stability
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