Adaptive Generalized Super-Twisting Sliding Mode Controller for Wheeled Mobile Robot

摘要

This paper presents the design of an adaptive generalized super-twisting sliding mode control (SMC) for reference tracking by the two-wheeled mobile robot in the presence of uncertainty. An additional linear correction term is included in the generalized super-twisting control. The designed controller can achieve the convergence of the tracking error and reduced chattering due to the generalized super-twisting structure. The detailed Lyapunov-based stability proof has been derived to ensure the stability of the two-wheeled robot. To relax the dependence on the upper bound of the unknown disturbance, the adaptive SMC has been incorporated. The appropriate adaptive gain has been designed judiciously to ensure the convergence of the sliding variable and the tracking error. Finally, the practical implementation of the proposed adaptive generalized super-twisting robust controller is carried out on a real system, specifically the Q-bot 2e, to illustrate the effectiveness of the designed controller.