文献类型：期刊文献

英文题名：Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers

作者：Liu, Haitao[1,2];Nie, Jianhao[1];Sun, Jian[1];Tian, Xuehong[1]

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China;[2]Southern Marine Sci & Engn Guangdong Lab Zhanjian, Zhanjiang 524000, Peoples R China

年份：2020

卷号：2020

外文期刊名：JOURNAL OF CONTROL SCIENCE AND ENGINEERING

收录：ESCI(收录号：WOS:000561377400003)、EI(收录号：20203509100383)、Scopus(收录号：2-s2.0-85089774339)、WOS

基金：This work was supported by the Natural Science Foundation of Guangdong Province in China (Grant no. 2018A0303130076), the Science and Technology Planning Project of Zhanjiang City (Grant no. 2017A02025), the Fostering Plan for Major Scientific Research Projects of the Education Department of Guangdong Province-Characteristic Innovation Projects (Grant no. 2017KTSCX087), the 2019 "Chong First-Class" Provincial Financial Special Funds Construction Project (Grant no. 231419019), and the Guangdong Science and Technology Project (Grant no. 2013B011304009).

语种：英文

外文关键词：Robust control - Feedback control - Sliding mode control - Closed loop control systems

外文摘要：In this paper, a robust adaptive output feedback control strategy based on a sliding mode super-twisting algorithm is designed for the trajectory tracking control of a wheeled mobile robot. First, a robust adaptive law is designed to eliminate the influence of parameter uncertainties. Second, a double-power sliding mode surface is designed to improve the response speed of the robot system. Finally, a high-gain observer is employed to estimate the speed information. The stability of the closed-loop system is proved using the Lyapunov stability theorem. The effectiveness of the proposed control strategy is verified by simulation.