Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot

Abstract

This paper focuses on the nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior, while the second relates to the dynamic behavior of the mobile robot. For the kinematic controller, we have used a Takagi–Sugeno fuzzy system to overcome the nonlinearities present in model, whereas for the second controller, we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of the system has been proved based on the Lyapunov approach. The simulation results show the efficiency of the proposed control laws.

Comparative study between PI and SMC controllers for DFIG using fuzzy wind power estimator

“…However, to guarantee the convergence of currents errors towards zero for all reference values, we propose in this subsection the development of a controller basis on the theory of sliding modes. The control law includes two components, as shown in the following [28]: The first one is known as equivalent control term and the second is the switching control term. In the case of DFIG, two surfaces are defined, one for the current along the direct axis and another for the current along the quadrature axis as shown by (18):…”