Abstract
Aproposed sliding mode controller gain has been presented. The traditional switching function smooth method is improved by combining the smoothed switching function with the time-varying control gain. And we provide a sliding mode controller. The proposed controller has been applied to a motion trajectory tracking of mobile robot. Simulation study has been carried out to evaluate the performance of the proposed controller and to compare its performance with a recent conventional sliding mode controller performance. The simulation results showed that the proposed sliding mode controller has impressively achieved a highly performance with minimum reaching time and smooth control actions. In addition the results have proven the effectiveness and robustness of the proposed controller to achieve considerable enhancement of the motion tracking of robotics characterized by disturbances and parameter uncertainties without any obvious chattering.
Supported by Shanghai Leading Academic Discipline Project(Project Number: P1301),Shanghai Municipal Education Commission Scientific Foundation Projection (Project Number: 06LZ014), Shanghai Municipal Education Commission Scientific Foundation Projection (Project Number: K06LZ015) and Shanghai Natural Science Foundation (Project Number: 06ZR14133).
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Lu, X., Zhang, K., Wu, Y. (2007). Enhancement of Sliding Mode Controller by Unit Vector Continuous. In: Huang, DS., Heutte, L., Loog, M. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Contemporary Intelligent Computing Techniques. ICIC 2007. Communications in Computer and Information Science, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74282-1_68
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DOI: https://doi.org/10.1007/978-3-540-74282-1_68
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