Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection Xingkai Feng and Congqing Wang* Abstract: In this paper, an adaptive terminal sliding mode control scheme for an omnidirectional mobile robot is proposed as a robust solution to the trajectory tracking control problem. The omnidirectional mobile robot has a double-frame structure, which adsorbes on the aircraft surface by suction cups. The major difficulties lie in the existence of nonholonomic constraints, system uncertainty and external disturbance. To overcome these difficulties, the kinematic model is established, the dynamic model is derived by using Lagrange method. Then, a robust adaptive terminal sliding mode (RATSM) control scheme is proposed to solve the problem of state stabilization and trajectory tracking. In order to enhance the robustness of the system, an adaptive online estimation law is designed to overcome the total uncertainty. Subsequently, the asymptotic stability of the system without total uncertainty is proved with basis on Lyapunov theory, and the system considering total uncertainty can converge to the domain containing the origin. Simulation results are given to show the verification and validation of the proposed control scheme. Keywords: Aircraft skin inspection, mobile robot, nonholonomic constraints, terminal sliding mode, trajectory tracking.
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INTRODUCTION
With the development of mobile robot technology, the mobile robots have attracted more and more attention due to their significant application prospects in civil and military fields, such as cleaning robots [1], oil tank climbing robots [2], powerline inspection robots [3] and deepsea exploration robots [4]. This paper mainly introduces a kind of omnidirectional mobile robot for aircraft skin inspection (Fig. 1), which has the advantages of low cost, high efficiency and high accuracy compared with manual inspection. Compared with conventional mobile robots, this omnidirectional mobile robot with doubleframe structure makes it possess better mobility, ability to turn in any direction with zero turning radius, capability to move in curved and confined space. Certainly, it can be used not only in aircraft skin inspection, but also in other related fields. The omnidirectional robot is a tropical nonholonomic system, which makes its dynamic model more complex. The kinematic and dynamic models of all kinds of mobile robots have been investigated by many researchers. It should be pointed out that most of the models are based
Fig. 1. The omnidirectional mobile robot for aircraft skin inspection. on wheeled mobile robot, which is different from the omnidirectional mobile robot in this paper, but it can provide reference for our modeling. A typical two-wheeled mobile robot is shown in the work of Salerno and Li et al. [5, 6]. An omnidirectional mobile robot with Swedish wheel is introduced in [7]. A generalized differential mobile robot is presented in the work of W
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