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发布时间：2019-03-09

论文类型：期刊论文

发表时间：2014-09-14

发表刊物：APPLIED ARTIFICIAL INTELLIGENCE

收录刊物：EI、SCIE

卷号：28

期号：8

页面范围：751-765

ISSN号：0883-9514

摘要：The problem of trajectory tracking control for a nonholonomic mobile robot is discussed in this study, in which both the dynamic behaviors of disturbance adaptability and the velocity saturation constraint are considered simultaneously. To realize this objective, a double closed-loop control structure is presented. On the outer loop, an improved velocity saturated controller based on hyperbolic tangent function is established; on the inner loop, an integral sliding mode controller, which possesses a fast transient response property with less steady-state error, is developed. In addition, to alleviate the inherent chattering behavior of sliding mode technology and enhance the external disturbance adaptability, an adaptive scheme as a disturbance observer is adopted by which one could estimate the uncertain disturbance acting on the mobile wheels rapidly. Simulation results verify the effectiveness of the proposed control theories.