Second order sliding mode controller and online path planning for space rovers
by Sandeep Kaur; S. Janardhanan
International Journal of Modelling, Identification and Control (IJMIC), Vol. 21, No. 3, 2014

Abstract: This paper proposes a second order sliding mode (SOSM) controller for space rovers. The space rovers are operated in hostile and remote environment which can degrade its performance. The unknown disturbances are controlled by using a robust controller. The properties of SOSM make it the superior choice over other controllers. This paper aims to design a second order sliding mode (SOSM) controller for a two wheel non-holonomic rover. The rover controller is designed to follow the predefined reference trajectories. A popular tool for online trajectories is artificial potential field method. This paper also projects the key idea to design an artificial potential field in the control computer with the global minimum at the goal point of the robot operation and local maxima at the obstacles. Robot motion is guided by the computer-generated artificial potential field instead of by predetermined trajectory. The simulation result shows the effectiveness of the proposed controller and the stability is proved through the use of a Lyapunov function.

Online publication date: Sat, 07-Jun-2014

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