Performing trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controller

Küçük Resim Yok

Tarih

2023

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

Künye