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The sliding mode controller with improved reaching law for harvesting robots

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Abstract

The chattering problem is caused by the switching function of sliding mode controller, which makes the accuracy of autonomous driving limited. To solve this problem, a steering sliding mode controller with improved nonlinear reaching law is proposed. The exponential function is used in the new reaching law to eliminate chattering problem, and the initial value of switching function is employed to avoid output saturation in the case of large initial errors. In the new reaching law, the large slope of sign function coefficient ensures the anti-disturbance ability of the controller after the system converges. A disturbance observer is constructed for real-time observation of the disturbance signals, which makes the controller get rid of the dependence on the prior knowledge of the disturbance. This paper introduces the tuning principle of controller parameters in detail and constructs the simulations and experiments of autonomous driving system. The experiments demonstrate that the proposed controller restrains the path-tracking mean error by 38% and restrains the standard error by 18%, the accuracy and efficiency of autonomous driving system are improved. Furthermore, the proposed reaching law can be used in other systems besides autonomous harvesting robots.

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Acknowledgments

This work was supported by National Natural Science Foundation of China [61773113, 51875260], Primary Research & Development Plan of Jiangsu Province [BE2018384], National Key Research and Development Program [2016YFD0702000].

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Authors and Affiliations

  1. Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of education, School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, China

    Nan Qiao, Lihui Wang, Mingjie Liu & Zhuoxuan Wang

Authors
  1. Nan Qiao
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  2. Lihui Wang
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  3. Mingjie Liu
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  4. Zhuoxuan Wang
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Contributions

All authors contributed to the study conception and design. System construct, data collection and analysis were performed by Nan Qiao and Lihui Wang. The first draft of the manuscript was written by Nan Qiao, the revision was completed with the help of Mingjie Liu and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Lihui Wang.

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Funding

This work was supported by National Natural Science Foundation of China [61773113, 51875260], Primary Research & Development Plan of Jiangsu Province [BE2018384], National Key Research and Development Program [2016YFD0702000].

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Qiao, N., Wang, L., Liu, M. et al. The sliding mode controller with improved reaching law for harvesting robots. J Intell Robot Syst 104, 9 (2022). https://doi.org/10.1007/s10846-021-01536-6

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  • DOI: https://doi.org/10.1007/s10846-021-01536-6

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