Adaptive Fuzzy Terminal Sliding-Mode Controller Design for Omni-Directional Mobile Robots

Liu, Chi-Hua; Hsiao, Ming-Ying

doi:10.1166/asl.2012.2365

Cited by 6 publications

(4 citation statements)

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“…By virtue of the exponential stability of the ε 1 dynamics on the sub-manifold s = 0, the control of the original three dimensional system (11) is reduced to the stabilization problem of the one-dimensional s-dynamics in (21). The s-dynamics in ( 21) can be written in a compact form:…”

Section: Control Designmentioning

confidence: 99%

“…FLSs are used to approximate an ideal control law with an adaptive Mamdani-type fuzzy controller for an omnidirectional spherical mobile robot in [20]. Liu and Hsiao proposed an adaptive fuzzy sliding-mode tracking controller for OMRs [21]. Ren et al presented a fuzzy-based intelligent obstacle-avoidance strategy for a wheeled mobile robot in [22].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Huang

Chiu

2021

Processes

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Adaptive fuzzy sliding-mode control design for omnidirectional mobile robots with prescribed performance is presented in this work. First, an error transformation which transforms the constrained variable into an unconstrained one is carried out. Next, a fuzzy logic system (FLS) for approximating the unknown dynamics is constructed. Based on such a model, a nominal adaptive linearizing controller incorporating a serial-parallel model (SPM)-based composite algorithm, which improves the tracking performance of the overall closed-loop system, is synthesized. To solve the so-called “loss of controllability” problem, a smooth-switching algorithm is embedded which hands over the control authority to an auxiliary sliding-mode controller until the danger is safely bypassed. The proposed design ensures the semi-globally uniformly ultimately bounded stability of the closed-loop signals. Simulation works demonstrating the validity of the proposed design are presented in the final.

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Section: Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Huang

Chiu

2021

Processes

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“…13 To attenuate the influences of system uncertainties and disturbances, the adaptive technique is a valid scheme. A fuzzy-based adaptive sliding mode tracking control law was presented in Liu and Hsiao's 14 work. Considering the unknown bounded uncertainties, Alakshendra and Chiddarwar 15 suggested a higherorder sliding mode-based adaptive control scheme to study the trajectory tracking of OMRs, and an adaptive law was used to estimate the upper bounds of uncertainties.…”

Section: Introductionmentioning

confidence: 99%

“…1. Compared with the trajectory tracking control schemes of OMRs, [14][15][16]18 the state constraints for position, rotation angle, longitudinal velocity, transverse velocity, and rotating speed are considered in this article, which can guarantee the safety or meet requirements of the operating environment in practical applications. 2.…”

Section: Introductionmentioning

confidence: 99%

Dynamic surface control–based adaptive neural tracking for full-state constrained omnidirectional mobile robots

Zheng

Ito

2019

Advances in Mechanical Engineering

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This article studies the neural network-based adaptive dynamic surface control for trajectory tracking of full-state constrained omnidirectional mobile robots. The barrier Lyapunov function method is adopted to handle the full-state constraints of the omnidirectional mobile robot, and thus state variables will never violate the restrictions. Then, the neural network is used to approximate the uncertain system dynamics, and the adaptive law is proposed to adjust the weights. Moreover, the dynamic surface control is adopted to avoid the derivation of virtual variables, and the complexity of the controller can be simplified in comparison with the classical backstepping technique. The auxiliary system is proposed as the compensator to address the input saturation of omnidirectional mobile robots. All signals including tracking errors, state variables, adaptive parameters, and control inputs in the closed-loop system are proved to be uniformly bounded, while the control gains are chosen properly. Numerical simulations are tested to validate the effectiveness and advancements of the given control strategy.

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Trajectory Tracking Control for Omnidirectional Mobile Robots with Full-State Constraints

Zheng

Jia

2017

Lecture Notes in Electrical Engineering

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Adaptive Fuzzy Terminal Sliding-Mode Controller Design for Omni-Directional Mobile Robots

Cited by 6 publications

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Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Dynamic surface control–based adaptive neural tracking for full-state constrained omnidirectional mobile robots

Trajectory Tracking Control for Omnidirectional Mobile Robots with Full-State Constraints

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