Điều khiển robot dựa vào mặt trượt cải tiến Và luật tiệm cận

Abstract

This article designs a sliding mode control with an improved sliding surface and exponential reaching law for mobile robot. This is a holonomic robot that can perform translational and rotational motions independently and simultaneously. The sliding mode control (SMC) is designed to ensure that the robot’s actual trajectory follows the desired in a finite time with the error converging to zero. The improved sliding surface and exponential reaching law are used to decrease chattering phenomena around the sliding surface. The stability of the system is proven by Lyapunov's theory. Simulation results in MATLAB/Simulink show the effectiveness of the proposed controller, the actual response of the xw and yw converges to the reference xd and yd with the steady-state error converging to zero, the rising time reaches 0.0832s and 0.0764s, the settling time is 0.1309s and 0.1226s, the overshoot is 0.032% and 0.0248%, respectively, and the chattering phenomena was reduced.