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All Journal International Journal of Electrical and Computer Engineering Bulletin of Electrical Engineering and Informatics
Vu, Nga Thi-Thuy
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Computer Science & IT Electrical & Electronics Engineering

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Robust adaptive controller for wheel mobile robot with disturbances and wheel slips Vu, Nga Thi-Thuy; Ong, Loc Xuan; Trinh, Nam Hai; Huong Pham, Sen Thi
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 1: February 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i1.pp336-346

Abstract

In this paper an observer based adaptive control algorithm is built for wheel mobile robot (WMR) with considering the system uncertainties, input disturbances, and wheel slips. Firstly, the model of the kinematic and dynamic loops is shown with presence of the disturbances and system uncertainties. Next, the adaptive controller for nonlinear mismatched disturbance systems based on the disturbances observer is presented in detail. The controller includes two parts, the first one is for the stability purpose and the later is for the disturbances compensation. After that this control scheme is applied for both two loops of the system. In this paper, the stability of the closed system which consists of two control loops and the convergence of the observers is mathematically analysed based on the Lyapunov theory. Moreover, the proposed model does not require the complex calculation so it is easy for the implementation. Finally, the simulation model is built for presented method and the existed one to verify the correctness and the effectiveness of the proposed scheme. The simulation results show that the introduced controller gives the good performances even that the desired trajectory is complicated and the working condition is hard.
Tracking controller for uncertain wheel mobile robot: adaptive sliding mode control approach Pham, Sen Huong Thi; Nguyen, Cuong Duc; Giap, Khanh Dang; Vu, Nga Thi-Thuy
Bulletin of Electrical Engineering and Informatics Vol 12, No 6: December 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v12i6.5586

Abstract

This paper presents a technique for developing a sliding mode controller (SMC) using the state model of wheel mobile robot (WMR). The control scheme which consists of a controller and a disturbances observer can eliminate system uncertainties, disturbances, and unknown wheel slips. To successfully implement the sliding mode tracking controller algorithm, first, the transformation is utilized to convert the kinematic and dynamic models to an equation of state, and then create a controller based on Lyapunov function. Subsequently, a disturbance observer is formulated based on a stable sliding surface, followed by the development of an adaptive sliding mode control (ASMC) for the system. Moreover, to verify the efficacy of the given strategy, simulations have been performed under the aforementioned disturbance conditions. Finally, the simulation results show that chattering effect is eliminated, and the impact of disturbances is also diminished, thus proving the viability and correctness of the proposed control algorithm.
Co-Authors Giap, Khanh Dang Huong Pham, Sen Thi Nguyen, Cuong Duc Ong, Loc Xuan Pham, Sen Huong Thi Trinh, Nam Hai