Hybrid Adaptive Sliding Mode Controller for Path Tracking of Wheeled Mobile Robot in Uncertainty

IF 5.9 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Ain Shams Engineering Journal Pub Date : 2025-09-05 DOI:10.1016/j.asej.2025.103640

Madhu Sudan Das , Usha Rani Gogoi , Sanjoy Mandal

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引用次数: 0

Abstract

In this paper robust kinematic based adaptive sliding mode controller (KASMC) and dynamic based adaptive sliding mode controller (DASMC) are proposed for path tracking of wheeled-mobile-robot (WMR). KASMC is designed based on the kinematics of the WMR, while the DASMC is designed based on dynamic behavior of WMR. These combined control action derives WMR for efficient path tracking. Lyapunov stability is used in derivation of KASMC and DASMC control algorithms to ensure the stability. Furthermore, path tracking has been improved by designing hybrid controllers where adaptive-krill-herd-neuro-fuzzy-inference-controller (AKHNFIS) as kinematic controller and DASMC as dynamic controller are used. Proposed KASMC-DASMC and hybrid controller AKHNFIS-DASMC show efficient performance for various path tracking over conventional sliding-mode-control and, Iterative-learning-control, and PID-controller. Performance of the controllers are measured by the tracking error of the robot’s path, simulation-time, and path-length. Simulation results show that proposed control algorithm improves the performance of WMR for path tracking significantly.

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不确定条件下轮式移动机器人路径跟踪的混合自适应滑模控制

针对轮式移动机器人的路径跟踪问题，提出了基于鲁棒运动的自适应滑模控制器（KASMC）和基于动态的自适应滑模控制器（DASMC）。KASMC是基于WMR的运动学特性设计的，DASMC是基于WMR的动力学特性设计的。这些组合的控制动作产生了有效路径跟踪的WMR。在KASMC和DASMC控制算法的推导中采用李雅普诺夫稳定性来保证稳定性。在此基础上，设计了以自适应磷虾群神经模糊推理控制器（AKHNFIS）为运动控制器，以DASMC为动态控制器的混合控制器，改善了路径跟踪。与传统的滑模控制、迭代学习控制和pid控制器相比，所提出的KASMC-DASMC和混合控制器AKHNFIS-DASMC在各种路径跟踪方面表现出更有效的性能。通过机器人路径的跟踪误差、仿真时间和路径长度来衡量控制器的性能。仿真结果表明，该控制算法显著提高了WMR的路径跟踪性能。

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来源期刊

Ain Shams Engineering Journal Engineering-General Engineering

CiteScore

10.80

自引率

13.30%

发文量

441

审稿时长

49 weeks

期刊介绍： in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance. Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.