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Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR

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. Green open access

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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.

Type: Article
Title: Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/TIE.2017.2711500
Publisher version: http://doi.org/10.1109/TIE.2017.2711500
Language: English
Additional information: This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/
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
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/1569141
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