Article
2023
·
3 citations
Performing trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controller
Abstract
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.
Keywords
unmanned ground vehicle
UGV
trajectory tracking control
kinematic control
fractional order terminal sliding mode control
DIRECTION ANGLE CONTROL
MOBILE ROBOT
DYNAMIC CONTROLLER
DESIGN
SYSTEMS
IMPLEMENTATION
SPEED
WoS Categories
Engineering, Aerospace
Sustainable Development Goals
Citation
- Journal
- INTERNATIONAL JOURNAL OF SUSTAINABLE AVIATION
- Year
- 2023
- Volume
- 9
- Issue
- 1
- Pages
- 73-88
- ISSN
- 2050-0467
- eISSN
- 2050-0475
- DOI
- 10.1504/IJSA.2023.127493
- WoS UID
- WOS:000899422000005