An Intelligent Terminal Sliding Mode Control Method for Nonholonomic Systems in Extended Chained Form
Publish place: Third National Conference and First International Conference on Applied Research in Electrical, Mechanical and Mechatronics Engineering
Publish Year: 1394
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ELEMECHCONF03_1027
تاریخ نمایه سازی: 9 مرداد 1395
Abstract:
This paper deals with utilizing a fine-tuned terminal sliding mode control method for controlling a class of nonholonomic systems described by an extended chained form of state space equations. For this purpose, the parameters of terminal sliding mode control method is exactly tuned using an evolutionary algorithm namely bacterial foraging optimization such that the tracking error reaches to zero in a short period of time. Applying the proposed design method, results in considerable reduction in the convergence time of the states as well as the chattering phenomenon. The method is also applied to the system in presence of input uncertainty. Numerical simulations for a well-known nonholonomic system i.e. wheeled mobile robot demonstrate an effective improvement in the results comparing with conventional terminal sliding mode control method. It is also shown that the robustness of the proposed controller against uncertainties is considerably enhanced.
Keywords:
bacterial foraging optimization , chained form , nonholonomic system , terminal sliding mode control , wheeled mobile robot
Authors
Hosein Ghasemi Sahebi
Babol University of Technology
Behrooz Rezaie
Babol University of Technology
Zahra Rahmani
Babol University of Technology
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