{"title":"执行器故障下移动机器人轨迹跟踪的分数阶SMC控制器","authors":"Minghuang Qin, S. Dian, Bin Guo, Xu Tao, Tao Zhao","doi":"10.1080/21642583.2021.2023683","DOIUrl":null,"url":null,"abstract":"In this paper, aiming at the actuator fault-tolerant trajectory tracking problem of two-wheeled differential-driven mobile robots, a super-twisting fractional-order sliding mode fault-tolerant control method combined with a fault observer is proposed. The method not only ensures the pose tracking of the robot in normal condition but also guarantees the tracking performance while the fault occurs. The proposed method mainly includes: A fractional-order sliding mode surface which improves the transient response is utilized to design the fault-tolerant controller, and the super twisting reaching algorithm is adopted to reduce the chattering; A fault observer is designed to estimate the fault value, ensures system stability and safety through real-time compensation. Finally, the proposed fault-tolerant control method is verified by numerical simulation. The results show that the method proposed in this paper can effectively reduce the impact of actuator fault and ensure trajectory tracking performance. And the advantage of the control strategy over the general sliding mode controller is that compared with the integer-order sliding mode control (IOSMC), the fractional-order sliding mode control (FOSMC) we designed in this paper converges all the error states to zero faster, and the tracking error chattering is smaller.","PeriodicalId":46282,"journal":{"name":"Systems Science & Control Engineering","volume":null,"pages":null},"PeriodicalIF":3.2000,"publicationDate":"2022-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Fractional-order SMC controller for mobile robot trajectory tracking under actuator fault\",\"authors\":\"Minghuang Qin, S. Dian, Bin Guo, Xu Tao, Tao Zhao\",\"doi\":\"10.1080/21642583.2021.2023683\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, aiming at the actuator fault-tolerant trajectory tracking problem of two-wheeled differential-driven mobile robots, a super-twisting fractional-order sliding mode fault-tolerant control method combined with a fault observer is proposed. The method not only ensures the pose tracking of the robot in normal condition but also guarantees the tracking performance while the fault occurs. The proposed method mainly includes: A fractional-order sliding mode surface which improves the transient response is utilized to design the fault-tolerant controller, and the super twisting reaching algorithm is adopted to reduce the chattering; A fault observer is designed to estimate the fault value, ensures system stability and safety through real-time compensation. Finally, the proposed fault-tolerant control method is verified by numerical simulation. The results show that the method proposed in this paper can effectively reduce the impact of actuator fault and ensure trajectory tracking performance. And the advantage of the control strategy over the general sliding mode controller is that compared with the integer-order sliding mode control (IOSMC), the fractional-order sliding mode control (FOSMC) we designed in this paper converges all the error states to zero faster, and the tracking error chattering is smaller.\",\"PeriodicalId\":46282,\"journal\":{\"name\":\"Systems Science & Control Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.2000,\"publicationDate\":\"2022-01-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Systems Science & Control Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1080/21642583.2021.2023683\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Systems Science & Control Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1080/21642583.2021.2023683","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Fractional-order SMC controller for mobile robot trajectory tracking under actuator fault
In this paper, aiming at the actuator fault-tolerant trajectory tracking problem of two-wheeled differential-driven mobile robots, a super-twisting fractional-order sliding mode fault-tolerant control method combined with a fault observer is proposed. The method not only ensures the pose tracking of the robot in normal condition but also guarantees the tracking performance while the fault occurs. The proposed method mainly includes: A fractional-order sliding mode surface which improves the transient response is utilized to design the fault-tolerant controller, and the super twisting reaching algorithm is adopted to reduce the chattering; A fault observer is designed to estimate the fault value, ensures system stability and safety through real-time compensation. Finally, the proposed fault-tolerant control method is verified by numerical simulation. The results show that the method proposed in this paper can effectively reduce the impact of actuator fault and ensure trajectory tracking performance. And the advantage of the control strategy over the general sliding mode controller is that compared with the integer-order sliding mode control (IOSMC), the fractional-order sliding mode control (FOSMC) we designed in this paper converges all the error states to zero faster, and the tracking error chattering is smaller.
期刊介绍:
Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory