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Kazemipour M, Shojaei K. Nonlinear Disturbance Observer-Based Fuzzy Adaptive Finite-Time Dynamic Surface Formation Control of Tractor–Trailer Wheeled Mobile Robots. JoC 2021; 15 (1) :93-112
URL: http://joc.kntu.ac.ir/article-1-767-en.html
Nonlinear Disturbance Observer-Based Fuzzy Adaptive Finite-Time Dynamic Surface Formation Control of Tractor–Trailer Wheeled Mobile Robots
Malihe Kazemipour1 , Khoshnam Shojaei * 1
1- Najafabad Branch, Islamic Azad University
Abstract:   (4211 Views)
In this paper, the trajectory tracking control problem for a team of nonholonomic tractor-trailer wheeled mob­ile robots has been investigated based on the leader-follower strategy in the presence of structural uncertainties and external disturbances. For this purpose, the kinematic and dynamic equations of the formation of tractor-trailer robots are presented and leader-followerchr('39')s model is produced by defining the state error vector at first. Then, a nonlinear disturbance observer is designed by using the formation dynamic model to estimate and compensate the external disturbance and a new model of the system is obta­ined. In the following, a finite-time dynamic surface controller has been designed and presented by con­sidering an observer-based model. The proposed scheme ensures closed-loop signals boundedness and fast c­o­n­v­er­gence of tracking errors in a limited time. Furthermore, the par­a­m­etric uncertainties are estimated by using a fuzzy adaptive estimator with a great accuracy. Finally, the finite time stability of the closed-loop control system is proved by Lyapunov theory and the effectiveness of proposed algorithm is sho­w­n by simula­tions.
Keywords: Adaptive fuzzy, disturbance obse‌rver, finite-time dynamic surface control, nonholonomic constraints, tractor-trailer robot.
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Type of Article: Research paper | Subject: Special
Received: 2020/06/2 | Accepted: 2020/12/27 | ePublished ahead of print: 2021/02/27 | Published: 2021/05/22
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