Adaptive Fuzzy Integral Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robot
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-04-05
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
In this paper, the trajectory tracking problem is investigated for a nonholonomic wheeled mobile robot with parameter uncertainties and external disturbances.
In this strategy, combining the kinematic model with the dynamic model, the actuator voltage is employed as the control input, and the uncertainties are approximated by a fuzzy logic system.
An auxiliary velocity controller is integrated with an adaptive fuzzy integral terminal sliding mode controller, and a robust controller is employed to compensate for the lumped errors.
It is proved that all the signals in the closed system are bounded and the auxiliary velocity tracking errors can converge to a small neighborhood of the origin in finite time.
As a result, the tracking position errors converge asymptotically to zeros with faster response than other existing controllers.
Simulation results demonstrate the effectiveness of the proposed strategy.
American Psychological Association (APA)
Peng, Shuying& Shi, Wuxi. 2017. Adaptive Fuzzy Integral Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robot. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1190238
Modern Language Association (MLA)
Peng, Shuying& Shi, Wuxi. Adaptive Fuzzy Integral Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robot. Mathematical Problems in Engineering No. 2017 (2017), pp.1-12.
https://search.emarefa.net/detail/BIM-1190238
American Medical Association (AMA)
Peng, Shuying& Shi, Wuxi. Adaptive Fuzzy Integral Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robot. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1190238
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190238