Position control of a 6&amp;#x00D7;6 ATV using a MIMO fuzzy controller

Gariepy, Ryan; Waslander, Steven L.

doi:10.1109/acc.2010.5531325

Cited by 3 publications

(1 citation statement)

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“…In terms of control, fuzzy control of skid steer vehicles was shown to be effective in a few works. 27,28 Linear and nonlinear controllers have also been shown to be effective. 29 However, given the parametrization of the path provided, a tracking algorithm is found to be more appropriate.…”

Section: Path Tracking Controllersmentioning

confidence: 97%

Way-point navigation for a skid-steer vehicle in unknown environments

et al. 2012

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Unmanned ground vehicles (UGVs) allow people to remotely access and perform tasks in dangerous or inconvenient locations more effectively. They have been successfully used for practical applications such as mine detection, sample retrieval, and exploration and mapping. One of the fundamental requirements for the autonomous operation of any vehicle is the capability to traverse its environment safely. To accomplish this, UGVs rely on the data from their on-board sensors to solve the problems of localization, mapping, path planning, and controls. This paper proposes a combined mapping, path planning, and controls solution that will allow a skidsteer UGV to navigate safely through unknown environments and reach a goal location. The mapping algorithm generates 2D maps of the traversable environment, the path planner uses these maps to find kinodynamically feasible paths to the goal, and the tracking controller ensures that the vehicle stays on the generated path during traversal. All of the algorithms are computationally efficient enough to run onboard the robot in real-time, and the proposed solution has been experimentally verified on a custom built skid-steer vehicle allowing it to navigate to desired GPS waypoints through a variety of unknown environments.

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Section: Path Tracking Controllersmentioning

confidence: 97%

Way-point navigation for a skid-steer vehicle in unknown environments

et al. 2012

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Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations

et al. 2021

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Skid-steered vehicles (SSV) are gaining huge importance in the market due to their applications like construction, agricultural work, material handling etc. The accuracy of performing such tasks require a robust control algorithm. The design of such controller is very challenging task due to external disturbances caused by wheel-ground interaction and aerodynamic effects. This paper proposes robust fractional and integral order fuzzy sliding mode controllers (FSMC, FFSMC) for a skid-steered vehicles with varying coefficient of friction and a displaced center of gravity (CG). FFSMC controller reduces the outcome of forces generated as a result of ground tire interaction during skidding and friction variations. The proposed controllers are implemented for a four-wheel SSV under high-speed turning motion. A simulation environment is constructed by implementing the SSV dynamics with wheel-road model and the performance of the proposed algorithms is tested. The simulation test is conducted for a Pioneer-3AT (P-3AT) robot SSV vehicle with displaced CG and variable coefficient of tires friction. Simulation results demonstrate the efficiency of the proposed FFSMC algorithm in term of reduced state errors and minimum chattering. The proposed controller compensates the effect of different responses of the wheels generated as a result of variable CG. The chattering phenomenon generated by conventional SMCs is also minimized by fuzzy tuning approach.

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