Performing trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controller
Küçük Resim Yok
Tarih
2023
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Inderscience Enterprises Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this paper, fractional order terminal sliding mode control (FOTSMC) method is used for trajectory tracking control performance of an unmanned ground vehicle (UGV). Firstly, a kinematic controller is designed to estimate the linear and angular velocities of the vehicle. Then, a FOTSMC design is carried out to track the vehicle reference velocities. Terminal sliding mode control (TSMC) and sliding mode control (SMC) methods are also used to demonstrate the performance of the proposed controller. The simulation results show that the proposed controller improves the tracking error by about 13% over SMC and 6.146% compared to TSMC.
Açıklama
Anahtar Kelimeler
unmanned ground vehicle, UGV, trajectory tracking control, kinematic control, fractional order terminal sliding mode control
Kaynak
International Journal of Sustainable Aviation
WoS Q Değeri
Q4
Scopus Q Değeri
N/A
Cilt
9
Sayı
1