Title: Second order sliding mode controller and online path planning for space rovers

Authors: Sandeep Kaur; S. Janardhanan

Addresses: Department of Electrical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi – 110 016, India ' Department of Electrical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi – 110 016, India

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.

Keywords: sliding mode control; higher-order SMC; non-holonomic robots; reachability; Lyapunov function; artificial potential field; online path planning; space rovers; robust control; space vehicles; rover control; controller design; robot path planning; robot motion; robot control; simulation; mobile robots; space robots.

DOI: 10.1504/IJMIC.2014.060735

International Journal of Modelling, Identification and Control, 2014 Vol.21 No.3, pp.321 - 329

Published online: 27 Apr 2014 *

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