An effective fuzzy-DVZ controller for an omnidirectional mobile robot

Amouri, Lobna; Novales, Cyril; Jallouli, Mohamed; Poisson, Gérard; Derbel, Nabil

doi:10.1109/ssd.2012.6197996

Cited by 2 publications

(1 citation statement)

References 11 publications

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“…Therefore, the numbers of fuzzy logic-based control algorithms for OMRs have been continuously increasing in the past few decades [13][14][15][16][17]. The work in [18] proposes a fuzzy controller for navigation and a behavioral method for obstacle avoidance. The works in [5,9,19] incorporated fuzzy logic with the popular PID control method for the path planning or trajectory tracking of OMRs.…”

Section: Introductionmentioning

confidence: 99%

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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