Release Time:2019-03-09  Hits:

Indexed by: Journal Article

Date of Publication: 2012-01-01

Journal: APPLIED ARTIFICIAL INTELLIGENCE

Included Journals: Scopus、EI、SCIE

Volume: 26

Issue: 10

Page Number: 952-966

ISSN: 0883-9514

Abstract: In this study, a double closed-loop control structure with a disturbance observer is reported. This combining structure could globally realize postures-tracking stabilization and have disturbance adaptive capability. On the outer loop, a new function having sinusoidal and inverse tangent characteristics, which are continuously differentiable, is applied to construct the velocity controller by using backstepping technology. Meanwhile, a disturbance-observer-based controller is applied to the inner loop to estimate the dynamic disturbances acting on the wheels; these disturbances are unavoidable and uncertain in an unstructured environment. To enhance the robustness of the system, sliding-mode control technology is applied to construct the system's dynamic controller. Finally, simulations are carried out to verify the effectiveness of the proposed control methods.