Adaptive fuzzy sliding mode controller for Wheeled Mobile Robots

Bohlouli, Reza; Mohamadi, Yaser; Barmaki, Reza; Keighobadi, Jafar

doi:10.1109/case.2011.6042487

Cited by 1 publication

(1 citation statement)

References 11 publications

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“…Therefore, an adaptive fuzzy SMC was performed in their simulation study for suppressing the chattering effects during the desired trajectory. 43 In addition, another adaptive robust second-order SMC (ARSSMC) was applied on a WMR with four-Mecanum wheel robotic platform with uncertainties and external force disturbance. 44 In Veer and Shital, 44 the WMR is run by the separate actuator during the motion.…”

Section: Introductionmentioning

confidence: 99%

Implementation a fractional-order adaptive model-based PID-type sliding mode speed control for wheeled mobile robot

Ayten

Çiplak

Dumlu

2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents the speed and direction angle control of a wheeled mobile robot based on a fractional-order adaptive model-based PID-type sliding mode control technique. Taking into account the individual benefits of the fractional calculus and the adaptive model-based PID-type sliding mode control method, the fractional order and the adaptive model-based PID-type sliding mode control technique are combined and proposed as an effective controller for the first time in the literature for real-time control of the wheeled mobile robot under the external payload. In this proposed method, several critical issues are considered; first, a kinematic and dynamic model of the wheeled mobile robot is analysed considering the system’s uncertainties. Second, fractional-order calculus and the model-based PID-type sliding mode control is composed to realize the chattering-free control, accurate trajectory tracking response, finite time convergence and robustness for the wheeled mobile robot. Finally, an adaptive process is also employed to meet and overcome the unknown dynamics and uncertain parameters of the system, regardless of the previous information of the uncertainties. The experimental outcomes demonstrate that the proposed controller (fractional-order adaptive model-based PID-type sliding mode controller) delivers an accurate trajectory tracking performance, faster finite-time convergence as well as having a smaller speed error under the external payload when the adaptive model-based PID-type sliding mode control is compared.

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Section: Introductionmentioning

confidence: 99%