{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,2]],"date-time":"2025-11-02T11:05:39Z","timestamp":1762081539874,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2022,12,23]],"date-time":"2022-12-23T00:00:00Z","timestamp":1671753600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["U21A20151","52105019","B17040","20211800904902","2020-2-GJHZ007"],"award-info":[{"award-number":["U21A20151","52105019","B17040","20211800904902","2020-2-GJHZ007"]}]},{"DOI":"10.13039\/501100013314","name":"111 project","doi-asserted-by":"publisher","award":["U21A20151","52105019","B17040","20211800904902","2020-2-GJHZ007"],"award-info":[{"award-number":["U21A20151","52105019","B17040","20211800904902","2020-2-GJHZ007"]}],"id":[{"id":"10.13039\/501100013314","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Dongguan Social Development Project","award":["U21A20151","52105019","B17040","20211800904902","2020-2-GJHZ007"],"award-info":[{"award-number":["U21A20151","52105019","B17040","20211800904902","2020-2-GJHZ007"]}]},{"name":"Science and Technology innovation project","award":["U21A20151","52105019","B17040","20211800904902","2020-2-GJHZ007"],"award-info":[{"award-number":["U21A20151","52105019","B17040","20211800904902","2020-2-GJHZ007"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Entropy"],"abstract":"<jats:p>Nonholonomic four-wheeled mobile robot (NFMR) is a typical multiple input\u2013multiple output system that formulates its kinematic dynamics concerning position and attitude in a parallel manner. However, due to the lumped disturbances and interconnected states, demand-satisfied performance is difficult to obtain for existing coupled control solutions. To address this problem, a double-loop sliding-mode control (DLSMC) mechanism is proposed for achieving position\/attitude cascade regulation. For the outer position tracking loop in the proposed scheme, a sliding mode control method of the bounded time-varying integral nonsingular terminal is designed to guarantee fast tracking in the presence of large initial errors and input saturation. On the other hand, for the inner attitude control loop, a novel adaptive barrier function-based sliding-mode control method is proposed without control gain overestimation. This enables the attitude to follow within a predefined vicinity of the sliding mode surface and holds it subsequently independent of the lumped uncertainties. Theoretical analysis is conducted to demonstrate the asymptotic stability. Comparative experiments implemented on a homemade NFMR show enhanced trajectory tracking performance and system robustness using position\/attitude cascade regulation via the proposed DLSMC mechanism.<\/jats:p>","DOI":"10.3390\/e25010027","type":"journal-article","created":{"date-parts":[[2022,12,27]],"date-time":"2022-12-27T04:35:43Z","timestamp":1672115743000},"page":"27","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Position\/Attitude Cascade Regulation of Nonholonomic Four-Wheeled Mobile Robot via Double-Loop Sliding-Mode Control Mechanism"],"prefix":"10.3390","volume":"25","author":[{"given":"Xin","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dongchen","family":"Qin","sequence":"additional","affiliation":[{"name":"School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuting","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuanlong","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"},{"name":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan 430074, China"},{"name":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hu","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shiqi","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"504","DOI":"10.1007\/s11465-020-0626-y","article-title":"Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple maneuvering modes","volume":"16","author":"Zhang","year":"2021","journal-title":"Front. 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