Design and implementation of resource‐aware robust event‐based integral sliding mode controller for a networked wheeled mobile robot

摘要

Abstract This work discusses the design and implementation of a robust control strategy based on integral sliding mode (ISM) for tracking a reference trajectory by a nonholonomic wheeled mobile robot (WMR). A state feedback control law using dynamic feedback linearization is adopted to design the controller for the unperturbed dynamics of the WMR. To nullify the effects of perturbations in the WMR and to retain the performance of the nominal controller, the ISM control scheme is introduced, which uses discontinuous control to guarantee the robustness of the closed‐loop system. To relax the frequent use of the communication network due to the continuous exchange of the sensor measurements, the control law is redesigned using event‐based sampled data information. The control signal is updated in an aperiodic manner by designing a novel triggering rule where the triggering occurs only when either of the two sampling errors violates a predefined threshold condition. This design approach gives a balanced solution for a networked WMR regarding network usage and control performance. Finally, a simulation study with comparative analysis and hardware‐in‐loop testing of the proposed controller is performed on a mobile robot system to establish the feasibility of the theoretical results.