Adaptive fuzzy sliding mode controller for Wheeled Mobile Robots

In this paper, perfect trajectory tracking control of a non-holonomic Wheeled Mobile Robot (WMR) is tackled. First, a Sliding Mode Controller (SMC) is proposed to convergence of WMR on desired position, velocity and orientation trajectories. Due to the weak performance of the SMC against exogenous i...

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Hauptverfasser: Bohlouli, R., Mohamadi, Y., Barmaki, R., Keighobadi, J.
Format: Tagungsbericht
Sprache:eng
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Beschreibung
Zusammenfassung:In this paper, perfect trajectory tracking control of a non-holonomic Wheeled Mobile Robot (WMR) is tackled. First, a Sliding Mode Controller (SMC) is proposed to convergence of WMR on desired position, velocity and orientation trajectories. Due to the weak performance of the SMC against exogenous inputs, a Mamdani-type fuzzy system is designed to improve the tracking performance of the controller. However, the Fuzzy SMC (FSMC) cannot remove the chattering phenomena completely. Therefore, a supervisory Adaptive FSMC (AFSMC) is proposed to suppress the chattering effects. The superiority of the adaptive approach to the non-adaptive methods has been revealed through simulations.
ISSN:2161-8070
2161-8089
DOI:10.1109/CASE.2011.6042487