Asynchronous H∞ Continuous Stabilization of Mode-Dependent Switched Mobile Robot
针对四轮转向移动机器人固定机动模式下鲁棒跟踪控制难的问题，提出一种基于内部耦合滑模控制的模式依赖切换机器人，并设计异步H∞连续镇定控制方案，实现自适应模式分配和全局指数稳定。
Four-wheeled steerable mobile robots have been widely used in industrial fields. However, robust tracking control is hard to achieve with a fixed maneuver mode. Based on a novel internal coupled sliding mode control (ICSMC) method, this study handles the above challenge by constructing a mode-dependent switched mobile robot (MSMR), and then designing an asynchronous <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty}$ </tex-math></inline-formula> continuous stabilization control scheme. This method governs the system behaviors to perform adaptive-mode allocations asynchronously and smoothly. First, a unified expression of MSMR is formulated, which regards the maneuver modes as optional subsystems. Then, with the coupled sliding surfaces and modified reaching law, an enhanced chattering-free ICSMC technique is established to optimize continuous control inputs for each subsystem. Moreover, using a surveillant criterion that depicts the energy decaying rate, an evaluation rule is built to distinguish the mismatched subsystems and then realize autonomous mode switching for the concerned MSMR. Utilizing piecewise Lyapunov functional technique and mode-dependent average dwell time, new sufficient conditions are derived for global exponential stability and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty}$ </tex-math></inline-formula> performance. Comparative experiments implemented on the developed MSMR are carried out to verify the effectiveness of the proposed control scheme.