The adaptive sliding mode control using improved genetic algorithm tuning PID controller for the planetary rover
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 18 January 2021
Issue publication date: 16 February 2021
Abstract
Purpose
The purpose of this paper is to resolve the problem of the dynamic response performance of the driving control system for a six-wheeled planetary rover. An adaptive sliding mode controller based on an improved genetic algorithm (IGA) to tune PID sliding surface parameters was used in the driving control system of the planetary rover.
Design/methodology/approach
First, the mathematical model of planetary rover driving control is established. Second, according to sliding mode variable structure control, an equivalent controller and a disturbance controller are constructed to solve the problem of a multi-disturbance nonlinear driving control system of planetary rovers and an IGA is used to tune PID parameters.
Findings
Simulation results show that the proposed control algorithm improves the accuracy of the driving control system and optimizes the smoothness of rover motion control.
Practical implications
The controller based on the IGA to tune PID sliding surface parameters has good self-adaptability and real-time controllability for the control object which is difficult to present a precise mathematical model.
Originality/value
The advanced control method is adopted to solve the uncertainty and external interference of planetary rovers in a complex environment. The mathematical model of the six-wheeled rover is established as the control object and the uncertainty and external disturbance of the model are considered. The controller based on IGA has good adaptability and real-time performance and the control algorithm can be used to drive robots in complex environments.
Keywords
Citation
Yuan, T., Guo, G., Du, B., Zhao, Z. and Xu, W. (2021), "The adaptive sliding mode control using improved genetic algorithm tuning PID controller for the planetary rover", Aircraft Engineering and Aerospace Technology, Vol. 93 No. 1, pp. 218-226. https://doi.org/10.1108/AEAT-05-2019-0096
Publisher
:Emerald Publishing Limited
Copyright © 2020, Emerald Publishing Limited