eprintid: 1569141
rev_number: 27
eprint_status: archive
userid: 608
dir: disk0/01/56/91/41
datestamp: 2017-08-08 11:44:30
lastmod: 2022-01-02 23:46:10
status_changed: 2018-10-16 10:19:56
type: article
metadata_visibility: show
creators_name: Mu, J
creators_name: Yan, X-G
creators_name: Spurgeon, SK
creators_name: Mao, Z
title: Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR
ispublished: pub
divisions: UCL
divisions: B04
divisions: C05
divisions: F46
keywords: Science & Technology, Technology, Automation & Control Systems, Engineering, Electrical & Electronic, Instruments & Instrumentation, Engineering, Generalized regular form, mobile robots, nonlinear systems, nonlinear sliding surfaces, sliding mode control (SMC), tracking control, SLIDING-MODE CONTROL, VARIABLE-STRUCTURE CONTROL, WHEELED MOBILE ROBOTS, TRAJECTORY TRACKING, DISTURBANCE ESTIMATION, DYNAMIC CONTROLLER, STOCHASTIC-SYSTEMS, OBSERVER, DESIGN, TIME
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abstract: In this paper, a generalized regular form is proposed to facilitate sliding mode control (SMC) design for a class of nonlinear systems. A novel nonlinear sliding surface is designed using implicit function theory such that the resulting sliding motion is globally asymptotically stable. Sliding mode controllers are proposed to drive the system to the sliding surface and maintain a sliding motion thereafter. Tracking control of a two-wheeled mobile robot is considered to underpin the developed theoretical results. Model-based tracking control of a wheeled mobile robot is first transferred to a stabilization problem for the corresponding tracking error system, and then the developed theoretical results are applied to show that the tracking error system is globally asymptotically stable even in the presence of matched and mismatched uncertainties. Both experimental and simulation results demonstrate that the developed results are practicable and effective.
date: 2017-06-02
date_type: published
publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
official_url: http://doi.org/10.1109/TIE.2017.2711500
oa_status: green
full_text_type: pub
language: eng
primo: open
primo_central: open_green
article_type_text: Article
verified: verified_manual
elements_id: 1408992
doi: 10.1109/TIE.2017.2711500
lyricists_name: Spurgeon, Sarah
lyricists_id: SSPUR40
actors_name: Spurgeon, Sarah
actors_id: SSPUR40
actors_role: owner
full_text_status: public
publication: IEEE Transactions on Industrial Electronics
volume: 64
number: 8
pagerange: 6714-6723
pages: 10
issn: 1557-9948
citation:        Mu, J;    Yan, X-G;    Spurgeon, SK;    Mao, Z;      (2017)    Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR.                   IEEE Transactions on Industrial Electronics , 64  (8)   pp. 6714-6723.    10.1109/TIE.2017.2711500 <https://doi.org/10.1109/TIE.2017.2711500>.       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/1569141/7/Spurgeon%2007938436.pdf