Sliding mode fuzzy control of a skid steer mobile robot for path following

Abstract

In this paper, robust sliding mode fuzzy logic control of a four-wheel differentially driven skid steer mobile robot, for path following is considered. This approach combines basic principles of Sliding Mode Control (SMC) with Fuzzy Logic Control (FLC). The path comprises a sequence of discrete waypoints. A novel approach in path extraction interpolates waypoints by means of quadratic curve to generate a continuous reference path. The positional data of waypoints are obtained using a vision system mounted on the mobile robot. Experimental study has been carried out to evaluate the performance of the proposed controller and to compare its performance with a conventional fuzzy logic controller performance. The experimental results show that the proposed controller has achieved superior performance in the presence of model uncertainties and external disturbances with minimum reaching time, minimum distance error, and smooth control actions.

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

“…To deal with the model uncertainties of SSWMR the technique based on sliding mode control (SMC) integrated with fuzzy logic control is used (Nazari and Naraghi, 2008). In another study, the extended state observer is designed with SMC, which is robust against model uncertainties (Jian et al , 2012).…”

“…However, due to the chattering problem, the energy efficiency of the proposed topology is limited. In Nazari and Naraghi (2008), the path following of SSWMR is presented using sliding mode control in the presence of uncertainties with constraints on time and distance error. The path following the performance of the robot is enhanced by using the SMC in integration with fuzzy logic control.…”

Output feedback adaptive controller of a autonomous skid-steering mobile vehicle based on sequential super-twisting differentiators

“…A path tracker using a state-dependent discontinuous controller appeared in Ibrahim et al 13 Variable structure control techniques proposed by Pazderski and Kozłowski 14 took advantage of expanded transverse capacities to get ahead of the execution of their suggested robust controllers when approaching allowable reference movements. Besides, efficient sliding mode fuzzy controller was developed 15 to enforce direction following calculation by employing a sequence of traceable reference points, attempting to get on with the mechanical framework execution, taking into account the presence of modeling inaccuracies and outside unsettling influences, and ensuring reduced convergence time using smooth control actions. All the aforementioned controllers use robust control variants that consider a constant gain approach that is intended to work with the worst operational case.…”

Trajectory tracking controller design for AGV using laser sensor based positioning system

“…Many factories were adopted it into assembly line or production line such as automobile, food processing, wood working, and other factories. AGV has attracted the attention to many researchers as well as manufacturers [2,3,5,6,8] and [9][10][11][12]. G. Campion et al [1] introduced structural properties and classification of kinematic and dynamic models of wheeled mobile robots.…”