A TSK fuzzy model and adaptive sliding-mode controller design for four-Mecanum-wheel omni-directional mobile free-bases

Zhang, Qi-Ye; Li, Dan; Pei, Wenjing; Jia, Yingmin

doi:10.1109/cac.2015.7382807

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Cited by 4 publications

References 14 publications

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Fractional order sliding mode control for an omni-directional mobile robot based on self-organizing interval type-2 fuzzy neural network

Zhao,

Qin,

Dian

et al. 2024

Information Sciences

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Fractional order sliding mode control for an omni-directional mobile robot based on self-organizing interval type-2 fuzzy neural network

Zhao,

Qin,

Dian

et al. 2024

Information Sciences

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Omnidirectional configuration and control approach on mini heavy loaded forklift autonomous guided vehicle

Adam¹,

Aiman²,

Nafis³

et al. 2016

MATEC Web Conf.

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Abstract. This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV) for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M) Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm x 270cm square) with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system's control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS) as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse.

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Trajectory Tracking Control for Four Mecanum Wheels Omnidirectional Mobile Robots Based on Active Disturbances Rejecter Control

Lamraoui,

Nemra

2024

2024 2nd International Conference on Electrical Engineering and Automatic Control (ICEEAC)

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A TSK fuzzy model and adaptive sliding-mode controller design for four-Mecanum-wheel omni-directional mobile free-bases

Cited by 4 publications

References 14 publications

Fractional order sliding mode control for an omni-directional mobile robot based on self-organizing interval type-2 fuzzy neural network

Fractional order sliding mode control for an omni-directional mobile robot based on self-organizing interval type-2 fuzzy neural network

Omnidirectional configuration and control approach on mini heavy loaded forklift autonomous guided vehicle

Trajectory Tracking Control for Four Mecanum Wheels Omnidirectional Mobile Robots Based on Active Disturbances Rejecter Control

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