List of Articles Adaptive Sliding Mode Control

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  1 - Design an Adaptive Sliding Mode Controller for a Class of Underactuated Systems
  Hossein Moeinkhah Mohammad Ahmadi Balootaki
  10.30495/admt.2021.1898210.1194
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  2 - Stability Enhancement of In-Wheel Motor Drive Electric Vehicle Using Adaptive Sliding Mode Control
  Majid Majidi Aria noori Asiabar
  10.30486/admt.2022.1938721.1311
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  3 - Designing Predictive Kinematic Control and Dynamic Robust Control for Path Tracking in a Wheeled Mobile Robot
  Fahime Kordi Hamid Reza Reza Alikhani Javad Nikoukar
  In this paper, we investigate a hybrid controller for wheeled mobile robots in the presence of external disturbances and parametric uncertainty. Robot models include kinematic and dynamic equations of motion. In this paper, in order to reach the final position, the whee More

  In this paper, we investigate a hybrid controller for wheeled mobile robots in the presence of external disturbances and parametric uncertainty. Robot models include kinematic and dynamic equations of motion. In this paper, in order to reach the final position, the wheeled moving robot must be controlled in such a way that it can follow a reference path. Many studies often use a motion control strategy for the wheeled mobile robot. In this study, the proposed control strategy has two stages including cinematic control and dynamic control. In this regard, first after introducing the kinematic model of the robot, we design a predictive controller for this part and prove it. Then, based on the nonlinear dynamic dynamics of the robot, an adaptive sliding mode dynamic controller is introduced to estimate the disturbances online, automatically adjust the gain of the control and eliminate the umbrella phenomenon completely. Then, the proposed design is analyzed and proved using Lyapanov's theory of stability. According to the proposed adaptive control law, optimal convergence and tracking performance of all signals are guaranteed and tracking errors can converge arbitrarily in finite time to the source. Simulation results have been performed to show the effectiveness of the proposed design using Matlab software. Manuscript profile