Fuzzy Sliding Mode Control of non-holonomic Wheeled Mobile Robot

Abstract

In this paper, perfect trajectory tracking of a non-holonomic Wheeled Mobile Robot (WMR) is developed. The Feedback Linearization (FL) methods may be used to make convergence of WMRs on desired position, and orientation trajectories. Due to the weak performances against exogenous signals, the FL controller is replaced by a Sliding Mode Controller (SMC). Using the SMC with a saturation term may not remove the high range chattering; therefore, a Mamdani-type Fuzzy Sliding Mode Controller (FSMC) is proposed to decrease the chattering effects. The superiority of the proposed pure and fuzzy SMCs to the recent FL method has been revealed through simulations.

PD Terminal Sliding Mode Control Using Fuzzy Genetic Algorithm for Mobile Robot in Presence of Disturbances

“…Sliding mode control has shown its robustness against the uncertainties and external disturbances [5], but conventional sliding mode control is known with the discontinuity, and the last one creates, in high oscillations, the chattering phenomenon. Many works have been proposed to resolve this kind of problem [6], [7], [8] and another suggests a fuzzy logic to reduce the effect of this phenomenon [9], [10] and [11]. However the sliding mode control displayed the problem of chattering, which is the high problem of their real implementation.…”

Real Time Fuzzy Based Speed and Direction Angle Control of an Automated Guided Vehicle

“…Ancak, pratikte dinamik parametrelerin elde edilmesi zor ve sistemin tam olarak modellenmesi güç olduğundan, sistemin matematiksel modelinin kesin olarak bilinmesine gerek duymayan kontrolcüler önerilmiştir. Önerilen kontrolcü yapılarının karmaşıklığı ve uygulama zorlukları [13]- [15], gerçek zamanlı olarak çalışmalarında düşük performans sergilemeleri [16], [17] ve üretilen kontrol işaretlerinin yüksek osilasyon içermeleri [18], [19] gibi zorluklar bu kontrolcülerin uygulamalarda yaygın olarak kullanılmasını önlemiştir.…”

Real-time control of an automated guided vehicle using a continuous mode of sliding mode control

“…Fuzzy-net control [4][5][6], neural control [7][8][9], dynamic feedback linearization [10], back-stepping control [11][12][13], and adaptive control [14,15] have been used to solve trajectory-tracking and robust control problems of AGV. Sliding mode control (SMC) has gained much attraction for machine control applications [16,17]. SMC is a very effective approach for the solution of the problem due to its robustness to parameter variations, easy implementation, fast dynamic response, and disturbance rejection [18].…”