NDLI: Trajectory tracking control of a four mecanum wheeled mobile platform: an extended state observer-based sliding mode approach

Content Provider	IET Digital Library
Author	Yuan, Zhenyi Tian, Yingxin Yin, Yunfei Wang, Siyi Liu, Jianxing Wu, Ligang
Abstract	This study proposes an extended state observer-based sliding mode control (ESO-SMC) strategy for trajectory tracking of a four mecanum wheeled mobile platform (FMWMP) with unknown disturbances and model uncertainties (UDMU) considered. Especially, the extended state observer (ESO) is designed to estimate not only the UDMU but also the unmeasured velocities of FMWMP. Based on the designed ESO, a sliding mode control (SMC) scheme is utilised to ensure the tracking performance as expected. By using Lyapunov synthesis, it is shown that all the signals of the whole system can be guaranteed to be uniformly ultimately bounded. To verify the effectiveness of the proposed control strategy, simulations and experiments are carried out with two different kinds of reference trajectories. Furthermore, a comparative work is done to show that the ESO-SMC controller has better control performance than traditional proportional–integral–derivative controller.
Starting Page	415
Ending Page	426
Page Count	12
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 3, Feb (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/3
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.6127
Journal	IET Control Theory & Applications
Publisher Date	2019-10-30
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Control Performance Control System Analysis Control System Synthesis ESO-SMC Controller Extended State Observer-based Sliding Mode Control Approach FMWMP Lyapunov Method Mecanum Wheeled Mobile Platform Mobile Platform Mobile Robots Mode Approach Model Uncertainties Modelling And Identification Multivariable Control System Observers Reference Trajectories Simulation SMC Scheme Spatial Variables Control Stability in Control Theory Synthesis Method Three-term Control Tracking Performance Traditional Proportional–integral–derivative Controller Trajectory Control Trajectory Tracking Control UDMU Unknown Disturbances Variable Structure System Wheels
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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