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Proceedings of 2011 8th Asian Control Conference (ASCC)


Kaohsiung, Taiwan, May 15-18, 2011

Integral Sliding Mode Control for Trajectory


Tracking Control of an Omnidirectional Mobile
Robot
Sho-Tsung Kao

Wan-Jung Chiou

Ming-Tzu Ho

Department of Engineering Science


National Cheng Kung University
Tainan, Taiwan
N9897103@mail.ncku.edu.tw

Department of Engineering Science


National Cheng Kung University
Tainan, Taiwan

Department of Engineering Science


National Cheng Kung University
Tainan, Taiwan
bruceho@mail.ncku.edu.tw

AbstractThis paper considers the problem of trajectory


tracking control of an omnidirectional mobile root. First, the
dynamic model of an omnidirectional mobile robot is derived to
facilitate the control design. In the controller design, state
feedback is used to linearize the system. Based on the linearized
system, integral sliding mode control is then designed for
trajectory tracking control. This control strategy is robust to
model uncertainties and exogenous disturbances. The designed
control laws are implemented and tested on an experimental
setup. The effectiveness of the control scheme is demonstrated
through simulation and experimental studies, and is compared
with the well-tuned PID control. It is shown that the control
system with the integral sliding mode controller has better
tracking performance.
Keywords-omnidirectional mobile root ; integral sliding mode
control

I.

INTRODUCTION (HEADING 1)

Due to structural simplicity and highly static stability,


wheeled mobile robots have been very popular in industrial and
service robotics. There are various types of wheeled mobile
robots. Among them, the omnidirectional wheeled mobile robot
[1] is able to provide translational movement along any desired
path combined with any rotational movement. This wheeled
mobile robot has superior maneuverability and has been widely
studied in the dynamic environmental applications.

initial time instance. This paper presents the design and


implementation of integral sliding mode control for tracking
control of an omnidirectional mobile root. The mathematical
model of an omnidirectional mobile robot is derived. State
feedback is first used to linearize the system. Based on the
linearized system, integral sliding mode controller is then
designed for the trajectory tracking control problem. The
effectiveness of the designed control system is demonstrated
through simulation and experimental studies.
The rest of this paper is organized as follows. In Section II,
the mathematical model of an omnidirectional mobile robot is
derived. Section III reviews the design methodology of
integral sliding mode control. In Section IV, the design of the
integral sliding mode controller for tracking control is given.
A brief description of the implementation of the control
system is given in Section V. Simulation and experimental
results are presented in Section VI. Finally, Section VII
contains some concluding remarks.
MATHEMATICAL MODEL

II.

This section presents the system modeling of an


omnidirectional mobile robot. This mathematical model is
derived by using the Newtons laws [8]. Fig. 1 illustrates the
basic features of the robot. The mobile robot is equipped with
three omnidirectional wheels, which are equally spaced 120
apart. It is assumed that there is no slip in all the wheels.

A number of studies [4]-[7] have been used sliding mode


control strategies for controlling the wheeled mobile robots.
The basic idea of sliding mode control is to use a high speed
switching control law such that the state trajectories of the
closed-loop motion are forced to reach the pre-defined sliding
surface, and to maintain their motion on the sliding surface for
all subsequent time. When the motion of the state trajectories is
confined to the sliding surface, the dynamics of the system are
forced to constrain its evolution on the pre-defined sliding
surface such that the system is insensitive to parametric
variation and external disturbance. However, a drawback of the
classical sliding mode control is that the system is not robust in
the reaching phase in which the system has not yet reached the
sliding surface. In [2, 3], integral sliding mode control was
proposed to solve the problem of the lack of robustness during
the reaching phase. Thus, robustness can be guaranteed
throughout the entire response of the system starting from the

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ym

f f2
G

fy

L
y

fx

G
f3

xm

L
f1

Figure 1. Schematic of the omnidirectional mobile robot.

The parameters of the omnidirectional mobile robot are


defined as follows:

1  sin(G )  sin(G )
0 cos(G )  cos(G ) .

L
L
L

Bk

M t : mass of the robot

Since

I z : moment of inertial of the robot

Fx cos I  sin I f x
,
F
y sin I cos I f y
and from (3), we obtain

L : radius of the robot

xm , ym : moving frame
X , Y : world frame

axw
a
yw
I

I : azimuth angle of the body


Fx , Fy : traction forces on the robot in the world frame

f1
H Rm Bk f 2 ,
f 3
w

(4)

where
cos(I )  sin(I ) 0
Rm sin(I ) cos(I ) 0 .
0
1
0
Based on geometrical relationships, we have kinematic velocity
equations:

M : moment of around the center of gravity of the robot

f x , f y : traction forces on the robot in the moving frame

f1 , f 2 , f 3 : traction force of each wheel


Rw : radius of the wheel

xw
y
w
I

T1 , T 2 ,T3 : angular displacement of each wheel


Z1 , Z2 , Z3 : angular velocity of each wheel

T1
T1


R (( Rm Bk ) ) T 2  T (I ) T2 ,
T3
T3


w

T 1

(5)

where

In the world frame by the Newton's second law, we have


axw
a
yw
I

Fx
H Fy ,
M

(1)

where

Mt

0
1
Mt
0

0 ,

I z

fx

cos(0) f1  sin(G ) f 2  sin(G ) f3 ,


sin(0) f1  cos(G ) f 2  cos(G ) f3 ,

Wm

(2)

M Lf1  Lf 2  Lf 3 .
For notational convenience, (2) is written in the following form
fx
f
y
M

f1
Bk f 2 ,
f 3

 3 sin(I )  cos(I )
3
3 cos(I )  sin(I )
3
1
3L

3 sin(I )  cos(I )

 3 cos(I )  sin(I )
.
3

3L

The control force is generated by a DC motor. The relation


between the motor torque W m and control voltage u is given by

xw
axw 
a  .
yw yw
From Fig. 1, f x , f y and M are given by

fy

2 cos(I )

3
2sin(I )
T (I )  R
3
1

3L

(3)

Kt
K2
u  t Zm ,
Ra
Ra

(6)

where K t is the motor torque constant, Zm is the angular


velocity of the motor, and Ra is the armature resistance. The
relationship between the motor torque and the force f is given
by
1
(7)
f
Wm,
Rw
From (6) and (7), we have
f1
f
2
f 3

u1
Kt Kt 2
u2 
Rw Ra Rw Ra
u3

T1
T .
2
T3

(8)

From (4), (5), and (8), the dynamics of the robot in the world
frame can be written as

where

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P
w

Aw Pw  Bw (I )U C ,

(9)

where

> xw
>u1

Pw
UC

a1
0

Aw

Bw (I )

ws0
(21)
[ f ( x)  B( x)u0 ].
wx
To guarantee the state trajectories to be confined on the sliding
surface starting from the initial instant, from (18), we can
choose zs (0) as follow

yw I @ ,

0
a1
0

u3 @ ,
T

0
0 ,
a2

2b1 cos(I ) b1 cos(I )  3b1 sin(I ) b1 cos(I )  3b1 sin(I )

2b1 sin(I ) b1 sin(I )  3b1 cos(I ) b1 sin(I )  3b1 cos(I ) ,

b2
b2
b2

a1

3K t 2
, a2
2 Rw2 M t Ra

3K t 2 L2
, b1
Rw2 I z Ra

Kt
.
2 Rw M t Ra

INTEGRAL SLIDING MODE CONTROL

III.

zs

u2

According to the idea of the integral sliding mode, the system


states have to remain on the sliding surface. Thus, we have

z s (0)  s0 ( x(0)).
According to (18), (21) and (22), we obtain

s0 ( x)  s0 ( x(0))

(23)
ws0 ( x)
[ f ( x(W ))  B( x(W ))u0 (W )]dW .
wx
In order to confine the system states on the sliding surface and
eliminate the external disturbance and noise effectively, u1 is
chosen as


u1

Consider the following non-linear system


x

f ( x)  B ( x)u  d ( x, t ),

(10)

where d ( x, t ) R n are the perturbation due to parameter


variations, un-modeled dynamics, and external disturbances,
and we assume that d ( x, t ) satisfies the matching condition [3],
which is

d mi  Ui , i 1, ! , m ,

] sgn( s ) ,

(24)

is a diagonal matrix. In other words,


where ] R
] diag{] i } , i 1, ! , m , and ] i is a positive real number.
mu m

where x R n are the states of the system, u R m are the


control input, f ( x) R n and B ( x) R num are smooth functions.

d ( x, t ) B ( x ) d m , d m R m .
Moreover, we assume d m are bounded

(22)

IV.

CONTROLLER DESIGN FOR THE ONMIDIRECTIONAL


MOBILE ROBOT

A. State Feedback Linearization


From (9), the system can be rewritten as follows:

P
w

(11)

Aw Pw  Bw (I )U C .

(28)

Let
Pdes (t )

(12)

> xdes (t )

ydes (t ) Ides (t )@

where Ui is a known and bounded positive number. For system


(10), the control input is chosen as

be the desired trajectory. Define the tracking error e(t ) as

(13)
u u0  u1
where u0 is the ideal control input. In general, u0 can be
obtained by LQR control, PID control, pole placement or other
control laws. u1 is a discontinuous control which is designed to
force the system to constrain states trajectories on the sliding
surface and to eliminate the external disturbance. The sliding
function is chosen as

then

s0 ( x)  zs ,

(18)

where s R m , s0 ( x) R m and zs R m . The function s0 ( x) is


designed as the linear combination of the system states. The
function zs is an unknown integral function to be determined.
From (18), we have
ws0
s
x  zs .
(19)
wx
Form (16) and (19), and we obtain
s

ws0
[ f ( x)  B( x)(u  d m )]  zs .
wx

(20)

e(t )

Pdes (t )  Pw (t ),

  P
 .
e P
des
w
From (28) and (31), we have

e

  [ A P  B (I )U ].
P
des
w w
w
C

(29)

(30)
(31)
(32)

By choosing

  [ A P  B (I )U ] ,
UP
(33)
des
w w
w
C
the tracking error dynamics become linear and can be written
as follow
d e 0 I e 0
U.

dt e 0 0 e I
From (33), the state feedback control law is

UC

  A P  U ].
Bw (I ) 1[ P
des
w w

B. PID Controller Design


The PID control law is given as

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(34)

(35)

H e,
U  K p e  K d e  K i H .
From equation (35), the system control input is
UC

  A P  K e  K e  K H ].
Bw (I ) 1[ P
d
w w
p
d
i

U1 x

(50)

Because d x is bounded, d x is chosen to satisfy the following


condition:

(37)

Kx ! d x ,

C. Integral Sliding Mode Controller Design


Because the actual system usually has external disturbance
or un-modeled uncertainty, the tracking error dynamic
equations (34) can be rewritten as

e U  d ,
where d are the perturbations and

K x sgn( sx ) .

(36)

where K x is a real number. Moreover, we use sat sx to replace


sgn( sx ) to mitigate the chattering problem [3]. Therefore, we
modify the control input as
Ux

(42)

dx

(43)
d y ,
dI

where d x , d y , and dI are the perturbations in the X axis,
Y axis, and I , respectively. Moreover, the control input U is
defined as

(51)

 K px ex  K dx ex  K x sat(

sx

IIx

).

(52)

By proceeding along similar lines, we can obtain the controllers


for the Y axis and I .

U x

(44)
U  U y
U I

where U x , U y , and U I are the control input to the X axis,
Y axis, and I , respectively. According to (42), we can rewrite
the tracking error dynamic equations as

V.

SYSTEM IMPLEMENTATION

An omnidirectional mobile robot has been constructed as


shown in Fig. 2. All of controllers are implemented on a digital
signal processor (DSP) board. This DSP board is based on the
Texas Instruments TMS320F2812 (150 MHz/32-bit) processor.
The sampling frequency of the system is chosen to be 1 kHz.
The schematic overview of the experimental setup is shown in
Fig. 3.

0
d e 0 I e 0
(45)

U  d
dt e 0 0 e I
I
With respect to the identical structure of controllers for the
X axis, Y axis, and I . In the following only the controller for
X axis will be discussed. The tracking error dynamic equations
of X axis is given by
0
d ex 0 1 ex 0
(46)
e 0 0 e  1 U x  1 d x ,
dt x
x

where ex is the tracking error in the X axis. According to the
design of integral sliding mode control, we first use the PD
control law for the ideal system, i.e., without perturbations. The
PD controller is given as
U0x

 K px ex  K dx ex ,

Figure 2. Omnidirectional mobile robot.

(47)

where K px and K dx are positive real numbers. Then, the control


input is chosen as
U x U 0 x  U1 x
We choose the sliding function as

sx

(48)

ex  K dx ex  K px ex (W ) dW
0

 K dx ex (0)  ex (0)


And the switching control input U1x is given by

(49)
Figure 3. Schematic overview of the experimental setup.

In order to obtain the position of the omnidirectional mobile


robot in the world coordinate, we have to obtain the angular

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displacement of the wheel. Thus, an optical encoder with a


resolution 500 pulses/rev is attached to the shaft of each dc
motor to measure the angular displacement of the
omnidirectional wheel. The QEP (quadrature encoder pulse)
circuits are implemented on an FPGA. The PWM (pulse width
modulation) signals are generated by the designed control laws
and supplied to the PWM driver to drive each dc motor.

Ides 0q (deg) in the world coordinate and the initial


conditions
are
T
D T
> x(0) y (0) I (0)@ 0.0319 -0.0865 8.125 . Fig. 6 and
Fig. 7 are the simulation results of circular path that use the
PID control and integral sliding mode control.
0.3

VI.

Cart displacement in Y axis (meter)

SIMULATION AND EXPERIMENTAL RESULTS

This section is to present the simulation and experimental


results. The planned trajectories are linear and circular paths.
First, we set a linear path command xdes 0.16t (m) ,
ydes 0.2t (m) and Ides 0q (deg) in the world coordinate,
and
the
initial
conditions
are
set
to
be
T
D T
> x(0) y (0) I (0)@ 0.0865 -0.1455 9.263 . Fig. 4 and
Fig. 5 are the simulation results that use PID control and
integral sliding mode control.

0.9

Command
0.2

0.1

-0.1

-0.2

PID
ISMC

-0.3
-0.3

-0.2

-0.1

0.1

0.2

0.3

Cart displacement in X axis (meter)

0.8

Figure 6. Simulation results of tracking of a circular path.

0.7
0.6
0.5
0.4

0.08
0.06
0.04
0.02
0
-0.02

0.3
0.2
0.1
0
-0.1
-0.2
-0.1

0.1

0.2

0.3

0.4

0.5

0.6

0.08
0.06
0.04
0.02
0
-0.02

0.7

Figure 4. Simulation results of tracking of an straight line path.

10
5
0
-5
-10
-15

error of X

0.1
0.05

error of X

0.5

1.5

2.5

3.5

2.5

3.5

2.5

3.5

error of Y

0.5

1.5

0.5

1.5

error of I

0
-0.05
-0.1

Figure 7. Tracking error of PID(--) and ISMC () (circular path).


0

0.5

1.5

2.5

3.5

error of Y

0.15

From Fig.4 to Fig.7, we know that the control system with


the integral sliding mode controller has better transient tracking
performance. The system designed by the PID controller has
more oscillation and slower convergence to the trajectory
command.

0.1
0.05
0
-0.05
30
20
10
0
-10
-20

0.5

0.5

1.5

1.5

error of I

2.5

2.5

3.5

3.5

Figure 5. Tracking error of PID(--) and ISMC () (straight line).

xdes

Here, we set a
0.2 cos(0.5S t ) (m),

circular path command of


ydes 0.2sin(0.5S t ) (m)
and

Then, we test the designed control laws on the experimental


setup. The planned paths are the same as those of the
simulation and the initial conditions of the robot are also the
same as those of the simulation, too. Fig. 8 and Fig. 10 show
the experimental results of tracking linear and circular paths,
respectively. We find that integral sliding mode control has
better transient performance. Moreover, Fig. 9 and Fig. 11
show the steady-state tracking error of linear and circular paths,
respectively. From the experimental results, we can see that
integral sliding mode control has less steady-state error.

- 769 -

3
2
1
0
-1
-2
-3

0.9
0.8
0.7
0.6
0.5

3
2
1
0
-1
-2
-3

0.4
0.3
0.2
0.1
0

x 10

-3

1
x 10

error of X

1.5

-3

1.5

3.5

2.5

3.5

3.5

error of I

-0.1

2.5

error of Y

0.5

-0.2
-0.1

0.1

0.2

0.3

0.4

0.5

0.6

0.7

-0.5

1.5

2.5

Figure 8. Experimental results of tracking of a straight line.


Figure 11. Tracking errors of PID(--) and ISMC () (circular path).

4
3
2
1
0
-1

3
2

x 10

-3

1.5

x 10

VII. CONCULSIONS

error of X

2.5

-3

3.5

3.5

error of Y

1
0
-1

1.5
1
0.5
0
-0.5
-1

1.5

2.5

error of I

In this paper, an integral sliding mode control scheme to


achieve trajectory tracking of an omnidirectional mobile robot
was proposed. The mathematical model of the robot was
derived to facilitate the controller design. In controller design,
we first used state feedback to cancel out the nonlinear terms of
the system, and PID control and integral sliding mode control
are then used to achieve trajectory tracking. From simulation
and experimental results, it is shown that integral sliding mode
control has better performance.
REFERENCES
[1]

1.5

2.5

3.5

Figure 9. Tracking errors of PID(--) and ISMC () (straight line).

[2]

[3]

0.3

Cart displacement in Y axis (meter)

Command

[4]

0.2

[5]

0.1

[6]

-0.1

[7]
-0.2

-0.3
-0.3

PID
ISMC
-0.2

-0.1

0.1

0.2

0.3

[8]

Cart displacement in X axis (meter)

Figure 10. Experimental results of tracking of a circular path.

- 770 -

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Guldner and V. I. Utkin, Sliding Mode Control for Gradient Tracking
and Robot Navigation Using Artificial Potential Fields, IEEE Trans.
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H. Goldstein, C. Poole, and J. Safko, Classical Mechanics, Addison
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